Infinity is not a number. However, even in mathematics textbook, infinity is used as a number: e.g. the set of natural numbers has infinity members. Therefore, infinity as commonly used even in mathematics is ambiguous. So when asking questions that involve infinity, the first clarification should be: what is the meaning of infinity (in the question)?
If we treat infinity as not a number, then we can't really understand its meaning in a number context. I.e. "go through an infinite series of numbers" is a question with no sensible interpretation.
If we treat infinity as a number, it must mean an arbitrary big number that beyond that big number, any effects are negligible and should be ignored. This interpretation has "arbitrary" embedded, which is still not defined in general but can be well defined in practical context. And it is up to the person who poses the question to define the context of his question before his question to be answered (or studied). Posing question without an acknowledgment of where the big number lies where beyond which the effect can be ignored is essentially asking questions about moving target, and it is ill-defined.
Now to the question: "how can a person walk 3 cm if he had to go through an infinite series of numbers ?"
We need to establish an arbitrary but definite number we all agree on that beyond which has no effect (regarding the context). Let's assume an arbitrary N, which can be very big, and we can easily see that no matter what N is, a person can go through N numbers in finite time. And if we define a constant speed and assume the N intervals are uniformly defined, we can calculate the time a person will take to cross the entire 3cm, and we need understand that we already assumed that any number beyond N (be it 100 or 1 million) will have no real effect (in this case, the crossing time) and can be ignored. So with the establishment of this context, we can meaningfully deal with all practical calculations that involve infinity (arbitrary big or small but finite).
Of course, the classical mathematics treatment is to use the concept of limit. Limit has essentially the same problem (as infinity) of ambiguity around finite/infinite divide, which is why Zeno of Elea posed the question in the first place! By merely invoking limit, we merely paraphrased the question without actually addressing the problem (the ambiguity around finite/infinite divide).
To extend my argument, a "real" number should not be treated as a number if its definition is rooted in "infinity". A number should always be assumed to have a precision attached (without better practical context, let's assume it to be arbitrary, but finite).
In physics, this arbitrariness is always well defined by the physical resolution in question.