I would start by leaving him alone for periods of time the week or maybe two weeks before you go back to work. Start off with only thirty minutes, for the first two days, then transition to an hour, then two hours.. etc. He'll get back into the routine in no time. Make sure that when you ARE home, you give him plenty of attention and play time. Walking will definitely help him feel better after being cooped up all day.
Sounds like you a great mommy!