Achy joints post walking at 27 weeks

Does anyone else experience this? I am 41 having my first child and experiencing high blood pressure so have been put on medication that is controlling it. I try and do 10k steps a day but average 6-7k a day instead and occasionally swim. I used to exercise so much more prior to pregnancy but I get achy leg joints post walking for 10 mi it's or climbing  steps. Is this a normal pregnancy trait? Help