Stumblefoot Treadmill Wannabe

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I would like to run a 5K in the spring but I'm a little afraid to get started with the training. I tend to drag a foot every now and then (a leftover from chemotherapy) and I worry that I'll end up in a YouTube video if I try a treadmill. Roadrunning has its own set of worries for me, including road rash. Does anyone have any advice for a technique that will keep me from falling? I do an hour of cardio 6 days a week, usually on an elliptical, arctrainer, or Precor adaptive motion trainer. I follow that with 20 to 30 minutes of strength training. I'm not worried about the fitness part of training, just the falling. Thanks for your help.