Dawn, two suggestions:
The first is to make sure to take time to S T R E T C H before and after your workout. Same thing when you first get up in the morning.
Second, consider cross training. One of the best ways to prevent injury is to find another sport to cross train. If you are walking every day, you are more likely to get hurt than if you mix it up with something else. Consider swimming, pool walking, cycling, or weight training every other day.
In addition to avoiding injury, you will also add some adventure to your workout plan and have something new to look forward to each and every day.