Joints click?

I do a lot of Zumba and I notice my joints click a lot.. Mostly in my hips and knees I hear it. It doesn't hurt, in fact I don't feel it at all however it is a pretty sickening sound! This doesn't just happen to me when I work out.. if my boyfriend leans on me the wrong way or pulls my arm or in other cases I hear clicking too..

Anyone have this issue/ know what it is/ should I see a doctor?

Any insight would be much appreciated.