Aching legs

Hi, I'm looking for help with why my legs ache. My day is always interruped with my legs aching. It can start anytime during the day and ends up with me going to bed with my legs aching. At night it is really hard to sleep. They ache on the sides of my upper legs and down into the front of the lower parts of my legs. If I lay on my side and there is pressure on the sides of my upper legs, I have to move to my back or the other side as the pain is unbareable. When I sit with my legs under me (in a relaxing way) I have to sit in a different position as they will start aching. I excercise a little by walking, and cycling. Sometimes the groins of my legs will bother me too. The ache is a dull ache. When I touch my lower legs they do not hurt but if I touch by pressing on my upper legs (on the side) it does hurt, not much but enough that I can feel it. I wonder if it could be arthistis as it is in my family. Please help.