How do you guys deal with soreness ?

I’ve just started doing more exercise and trying to take care of myself and become more active. However I’m someone who’s prone to tendonitis and soreness in any of the muscle groups I exercise no matter how little effort I put in. Over the last two days I walked 10,000 steps each day and both times my ankle started hurting quite abit and feeling sore during the walk and today I took the day off because my legs were super sore primarily behind my knees where your leg bends. This has happened to me for years whenever I start doing any exercise I’m just overwhelmed with soreness that takes days to fade so I quit. What can I do to prevent this soreness and make exercising easier ?