Exercise for those with joint/muscle AND balance issues?

If this has been asked elsewhere feel free to point me in that direction, I tried to search but wasn't quite finding what I'm looking for. I have problems with joint and muscle pain, so I'm trying to find other exercise to do that won't aggravate that too much. Right now I mainly just walk, I try to lift weights some but usually cant do much before pain kicks in. Even the walking if I do too much will bother me :frown: The other problem is I don't have great balance, so while I read a lot of people recommend using an elliptical as its easier on joints (especially the knees), I look at those things and wonder if I'm coordinated enough to not fall off, lol And alas swimming/water aerobics is out as I can't tolerate the chlorine in pools

Any suggestions? Do ellipticals require much coordination/balance, or does it just look like it does? What else would you recommend? Ideas would be greatly appreciated!