"Do you like to walk?"
Translation:Você gosta de caminhar?
My teacher, native speaker from Brasil, told me that between 2 verb "de" is not used.
Your teacher was certainly speaking of another case. Here it's absolutely necessary.
That case happens with "precisar", and it's pretty much an exception. Most verbs will retain their necessary preposition in all cases.
- Preciso de mais biscoito = I need more cookies
- Preciso fazer menos barulho = I need to make less noise.
"Tu gostas de passear?" Can be a solution for this case. Is a more informal case used in in Portugal portuguese, and I believe is also accepted in Brazilian portuguese