You can start with some simple joint exercises. It sounds like you might benefit from mobility in the ankles, knees and hips.
Lying on your back with both legs in front of you, bring your R knee into your chest. It really helps to do all the movements slowly, so just when you start, begin to notice how you're moving, and then consciously cut your movement time in half. Relax your shoulders to the ground as you gently rotate your ankle in circles...first clockwise then counterclockwise. You can point and flex your foot, and then let it hang to feel the weight of your thigh on your chest. Release and switch sides.
Another exercise can be done standing. Bring the big toe of one foot to the floor in front of you. Try to get the toe to stand alone on the floor, lifting your foot away from the floor. Now, balancing on your standing foot, begin to rotate your heel in a circle. If you're doing this correctly, you'll feel a gentle rotation in the ankles, knees, and hips...and you'll look like Elvis! Try on both sides, and let me know how it goes.