Wiktionary
vb. (context intransitive Scotland northern UK English) to walk with a limp, to drag a limb, to walk lamely; to move with a gait somewhere between walking and crawling.
Usage examples of "hirple".
Mizy Spaewell came hirpling with her bauchle in her hand, and flung it after him for good-luck.
The pain is real and gives her a lot of disfiguring physical distress for she hobbles, then hirples, then walks with her neck twisted toward the left, and is now unable to use her right arm for anything -- cannot even lift a fork to her mouth.
Smoke had given him her bread-mould treatment, but he still walked with a hirpling gait locally called the string-halt.
With infinite care he slowly levered his legs over the side of the bed, sat on its edge, pulled on the trousers of his grey suit -- now considerably less immaculate than when he had left London three days previously -- pushed himself gingerly to his feet and hirpled across to the tiny window above the wash-basin.