Actually, there are four kinds of reptile motion:
Concertina - vermiform. Circular muscles around the snake squeeze the front of the snake's body out long, then the latter half is pulled forward.
Rectilinear crawling - Belly scutes are moved forward individually in a wave-like motion.
Side-winding - Snake's version of "walking". Use by several species to move over fluidic substrates, such as sand.
Lateral undulation - Most common form of movement. Snake presses on alternating pressure points to force body forward (or backward)
(taken from a user on Yahoo from Correct Answers)