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The first 'a' could be used by some people, but it isn't technically supposed to be there.
The second 'a' is to introduce the verb that follows it. Many verbs need to have a preceding preposition. The infinitive 'caminar', by itself, does NOT mean 'to walk', as is taught in most textbooks and in schools all over. The English infinitive is 'to walk', but the meaning of the Spanish infinitive is simply 'walk'. The preposition 'a' is needed. I hope that helps.
Saco su perro a caminar (pasear) todos los días.
There's an 'Accents' pull-down menu just above the input box when you're typing. You can use that to insert all the special characters used in Spanish.
There's no need to use the subject pronoun 'yo' with the conjugated verb. The conjugation ending tells us who the subject is.
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