Here are some possibilities, depending on the context:
For "to walk or move in a lively, spirited way":
* Amble: Walk leisurely.
* Stroll: Walk in a slow, relaxed way.
* Shuffle: Walk with short, dragging steps.
* Trudge: Walk heavily and wearily.
* Lumber: Walk clumsily and heavily.
For "to move in a showy or arrogant way":
* Slink: Move stealthily or timidly.
* Creep: Move slowly and quietly, often trying to avoid being seen.
* Huffle: Move with difficulty or reluctance.
* Slouch: Stand or sit with a drooping posture.
For "to jump and paw the ground in a playful way (as a horse)":
* Stand still: Remain motionless.
* Walk calmly: Move in a quiet and controlled manner.
* Trot: Move at a moderate, steady pace.
The best antonym will depend on the specific way "prance" is being used in the context.