I have 2 brothers who are 6 years and 4 1/2 years older than I am, so mom always told me all I ever had to do was hold up my hands, and Daddy or one of my brothers would pick me up! I didn't start really walking on my own until I was 16 months old, either (same as your daughter).
I also have a 2 1/2 year old son who didn't start walking until he was 15-16 months old, because he wasn't quite "ready" to before then. His brother couldn't walk until he was 19 months old because he had a lot of fluid building up in his ears that upset his balance. I had to throw a fit and fall in it to get the ear specialist to put tubes in (kept getting told "he hasn't had enough ear infections"...phooey! He COULDN'T WALK!!!!) Anyway, finally got the tubes, and he was RUNNING the day after his surgery!! YAY!!!
If your daughter hasn't had anything like a lot of sinus or ear infections or problems with allergies, she will probably start walking on her own very soon. Just be patient with her and keep encouraging her to walk, and she will get there!
Blessings to you and your family!
~J.~