What are some good exercises that put less strain on the joints?

hello,

Lately, I've gained a lot of weight and feel like my stamina is declining, so I'm thinking of starting to exercise. However, my knee joints aren't in great condition, so I'm a bit hesitant to run or do strenuous workouts recklessly like younger people do...

I take walks around the neighborhood every day, but what kind of aerobic exercise would be more helpful for weight loss and improving cardiovascular function without putting strain on my knees or joints?

Please recommend some effective exercise methods that can be done consistently at home or outdoors without much effort, other than swimming or indoor cycling.