There is limited research on self-paced walking and whether healthy individuals reach perceived exertion- (RPE) and/or heart rate- (HR) based moderate intensities. Study purpose was to determine if achieved RPE and HR intensities during a self-paced walk are of equivalent magnitude and whether they reach the recommended moderate-intensity. Thirty participants completed a 15-minute self-paced walk. RPE and HR were measured every two minutes; each measure was ranked by intensity. Wilcoxon matched pairs test revealed no significant difference between the mean ranked RPE and %HRmax (2.4 ± 0.9, 2.3 ± 1.0, respectively, p = 0.365). Only 37.5% of time-matched RPE and %HRmax were the same intensity. A slight positive Spearman's rho correlation (rs = 0.201, p = 0.002) was found. One-sample t-tests showed that RPE and %HRmax did not reach moderate intensity (p < 0.001). Individuals did not achieve moderate intensities when self-paced walking with varied RPE- and HR-based measures.