My two-year-old hasn't started walking yet, though he can stand up on his own and walk with support. My wife and I are worried about it. Should we go to a doctor or wait for some more time?

Bring him for a check up if you are worried. Kindly understand that each child will progress differently. I can understand your worries as I'm the same when my boy still didn't walk at 18 months. He seems to be a little bit slower than his peers in terms of physical and motor skills. Just bring your child for a check up so you and your Wife could have a peace of mind.