Walking meditation is very good!  Try it sometime!  You can also rock and move when you meditate. Don't completely ignore the aches and pains in your body. Put off the aches that you can and pay attention and adjust when you need to.  The more you meditate the stronger those muscles will become and you will notice less and less aches and pains.

If I am feeling restless, I stand, rock back and forth, walk and will return to sitting if I feel like it.  This entire process I allow myself to just be present. It's ok for some meditations to go better than others.  In fact, it is perfectly natural.  Don't beat yourself up with rules and worrying about doing it the right way.  Just be in a state of mind that "This is meditation time, period." and go with that.  Find your own way. Research lots of different ways to meditate.  Meditation can happen at any time, anywhere. Remember that please. Anytime, anywhere!

Don't try and quiet the mind. Allow it to do it's thing.  Just watch it. Observe it. You will notice something. It never shuts off.  It goes and goes. Observing this is the first step in the mind to begin to quiet itself. The more you resist thinking, the more you will think.  One thing that can be helpful is to concentrate on every sound, smell, feeling, touch.  Concentrate on every sense that you have.  Obeserve it all. Observing all this occuring is being present.  It's ok if the mind goes off in many directions.  When it brings up emotions, feel them. Just allow yourself to be. Allow what you can to pass.  With practice, the mind will have gaps in thought.  When this occurs, it is a wonderful feeling. It is very peaceful!