A child walking for the first time. Novelty is easiest agent-relative. A problem is novel for an agent if there is no prior experiences of techniques which work to solve it.
Walking is actually innate behaviour, it just occurs relatively late in maturation for humans.
>A child walking for the first time
Um, I'm not sure if you've noticed, but we have bipedal robots that walk and run rather well now.
Is that a completely novel problem? Babies spend roughly a year watching us walk before they do so.