Great answeres from everyone above. I dont really have much to add, but would like to expand on a few concepts.
1. Try make activities more social - you could form your own yoga/stretching group which could meet at your local park? Or an aqua-aerobics class? Both are low impact so great for your knees, but also allow for your heart rate to increase and ensure aerobic benefits.
2. Expanding on Tim's comment about intense exercise. Try not to think of this as something scary or intimitating, it could be as practical as swim one lap as quickly as possible, then take the next one moderate pace, then switch it up. The important thing to note it is your breathing - are you out of breathe when doing it? Do you feel your heart rate increase? Are you sweating? These are all signs of effort and exertion - the more exertion, the higher the energy output.
3. Try to whole body movements - as mentioned above, most of the exercises use big muscle groups, stick to this rather than focusing on abs or legs. This way you will be able to use more energy and get more bang for your buck. Also note: if you are going to trying cycling - be sure to use a stationary recumbant bike (found in most gyms) these are far better for your knees.
Ultimately do movements that make you happy - take pets for walk, be social with your activities, listen to music, be happy!!!
All the very best,
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