How do i make my cat love walks again?

This is genuinely so infuriating, my kitty (6months) loved walks and would beg for one daily but one day w dog without a leash came running towards us while the owner did nothing! Now my cat is scared of walks and either jumps onto me and hugs me tightly with fear in his eyes or will run back home. I genuinely don't know what to do, what can i do to make him feel safe again? He loves staring at the window and he looks like he wants to go outside but when he does he simply looks so scared.