I have found that my hips and hams are happier if I stretch them a bit (DYNAMIC stretching, no static stretching) before. Walking is good for a cardio warm-up, but for me I found it wasn't enough for my joints. I was starting out with hips that were just a little too tight, and that was causing me some trouble with my gait and ultimately knee pain. Bear in mind I have tight-ish hips to start, so YMMV.

Anyway, now I do a few walking lunges, side lunges, bodyweight squats, leg swings, and dynamic one-sided toe touches. Sometimes I do a few walking grapevines. All told, just a few minutes, really quick. Definitely not exhaustive or thorough. Step ups are also supposed to be good, I just don't love 'em (mostly just because I don't like looking for an appropriate height step that's located near my warm-up or starting point).

Static stretching after. Static hamstring stretches, quad stretch, runners' lunge, a modified active pigeon pose. Followed by pancake clobberin' time.

That's what's working for me, as a new runner (started in January). Open to other ideas for the most part.

http://dailyburn.com/life/fitness/how-to-run-faster-mobility-exercises/?partner=MFP&mtype=5&sub_id=04122015_sabotagingworkout&utm_source=MFP&utm_medium=MFP&utm_campaign=04122015_sabotagingworkout&utm_content=04122015_sabotagingworkout