I want to get healthy. I can't afford doctors. I'm eating healthier and walking, but I'd like to start working out regularly. I have aches and pains all over already, and when I try to exercise they hurt worse. I expected soreness, but this is pain. If that's normal and I should just push through, fine. But I don't want to cause permanent damage or injury. Is there a way of knowing whether I'm hurting or helping myself?

Well a there are lots of things to factor in, like how long ago was it since you worked out regularly or when the last time you were accualy in shape, age and where it hurts. If there is swelling there is most likely a problem. But you probably aren't causing permanent damage. For walking start your mileage out small and gradually work up, for your feet wear good shoes such as Asics( $40-200). They have great supports, try short local easy trails, they are better on the body. Also, ice sore areas, drink water and stretch before every work out. Hope I helped :)