We experimentally demonstrate a quantum walk on a line in phase space using one and two trapped ion. A walk with up to 23 steps is realized by subjecting an ion to state-dependent displacement operations interleaved with quantum coin tossing operations. To analyze the ions motional state after each step we apply a technique that directly maps the probability density distribution onto the ions internal state. The measured probability distributions and the positions second moment clearly show the non-classical character of the quantum walk. To further highlight the difference between the classical (random) and the quantum walk, we demonstrate the reversibility of the latter. Finally, we extend the quantum walk by using two ions, giving the walker the additional possibility to stay instead of taking a step.