For verbs that represent actual physical actions (and not feelings or statuses), English present simple has an awkward "narrative" effect to it unless it's understood from context to express a habit or there is an explicit "occurrence" expression (like everyday, every other day, each hour, etc.)
Without that understanding/occurrence expression - it's typically not used unless you are "self-announcing" your actions, and almost never used if the verb describes a motion or transport.
I feel bad for him (typical, OK - feel in this sense is not a physical activity)
I make myself a cup of coffee (sounds like you're logging your actions to something or playing a role-playing game)
I am making myself a cup of coffee (idiomatic - and yes, it can mean you will make yourself a cup of coffee soon, or that right now in the present you are doing that)
Everyday I make myself a cup of coffee (ok due to "occurrence" expression)
I walk to the park (a listener/reader will probably assume you mean this in the context of exercising regularly)
I am walking to the park (idiomatic if you are trying to say you're walking to the park at this present time)