Can someone recommend exercise that won't make fibromyalgia pain worse?

I walk a lot, but I am looking for something that will get me in better shape. My knees are especially bad (they make crunchy/crackling sounds when I walk), and ANY kind of jumping, bouncing on my feet, etc., makes my legs hurt a lot. I've tried water exercise and had to stop after a while because it was making my pain worse. Doctor said I should walk -at least- 5 miles nonstop every day, but after a week of that I really hurt and can't walk at all. I also have trouble with lifting even small weights; lifting is easy, but I end up with pain in my joints for several days after. Since the whole point of exercising more is to stop being in pain from the fibro, what can I do that won't make things worse?

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