Three-dimensional shell-like structures can be obtained spontaneously at the microscale from the self-folding of 2D templates of rigid panels. At least for simple structures, the motion of each panel is consistent with a Brownian process and folding occurs through a sequence of binding events, where pairs of panels meet at a specific closing angle. Here, we propose a lattice model to describe the dynamics of self-folding. As an example, we study the folding of a pyramid of N lateral faces. We combine analytical and numerical Monte Carlo simulations to find how the folding time depends on the number of faces, closing angle, and initial configuration. Implications for the study of more complex structures are discussed.