I always forget to ice my knees when I get home

is it something you can do anytime or is it better to do it right after exercise

they are not achey out of control but I feel a pinch which is not a good sign
I have been doing Zumba and might have to go once a week only

It sounds like you might need to do some strength work on your legs and knees, if your knees hurt so much after zumba. Do you do any strength training?  You can ice your knees whenever you want, but typically it doesn't have any long term affect, just makes them feel better at that moment, and if they've swollen, then it should help reduce swelling.  I'd work on figuring out why they hurt so much, and maybe work to strengthen them so that they don't hurt. 

and have decided to just make walking my workout and stretching too of course
I always overdo it

I found out the hard way that "running through the pain" is just plain dumb (ended up having knee surgery and now, I have no cartilage in one knee).  There are a few very good DVDs that can help you strengthen your knees though, again, you need to be careful since your problems are specific and the DVDs are general in nature.  One is "Knee Hab" and the other is called "Strong Knees".  Depending on where you live, you might be able to get these through your public library.  Best thing is to check with your family doctor and perhaps get a referral to a specialist. If you are having pain and having to ice your knees after every workout, something is not right...maybe your shoes, maybe the surface you're walking on, etc.  Also, personally, while I can do squats til the cows come home, if I try to do lunges, I pay for it the next day so I no longer do lunges (if it causes pain, don't do it!) 

my knees don't hurt
I still walk a lot but now I want to find a good fitness place that is more suitable for my needs

A good trainer can make all the difference.  I noticed in another thread, you said the gym takes up too much time.  While priorities are different for everyone, a good trainer can give you exercises to do at home, if you don't have the time to go to the gym.  I need a lot of the weights and equipment at the gym, and I work much harder there, but it's a priority for me, so I make the time which often means getting up before the crack of dawn, lol.    However, there are certain exercises that I can do at home, or when I'm away. 

I have always belonged to a gym and now I feel I want to take a break but also at the same time fear I will let my body go if I don't do something

at home I don't have a lot of space but will try to figure out something
I do have an exercise ball which is gathering dust in my bedroom lol
so I think maybe I will take it out and just have it in my living room as a reminder and perhaps after walking I will do some weights
I have 5 lb weights at home

it is just a matter of getting into a routine easier said than done

ever tried aqua size? No stress on the joints & if you don't mind getting wet, lots of fun! I've been doing it on & off for years, I also swim frequently. When I was little the doctor told my parents to get me into swimming, I was born with scoliosis & he said it was the best thing for me to do. I love it! I also walk quite a bit with my dog. 

it really irritates my skin
but thanks for the suggestion

wondering if maybe you went to physio therapy if it would help. They might be able to give you some specific exercise to strength the muscles around your knees. I've never been but I have had someone recommend it to me for my sprained ankle. 

unfortunately though it just takes time and I cannot take time off work

what doesn't make sense to me is walkin clinics are open on saturdays and some on sundays
but other clinics are not