How to get rid of achey throbbing legs?

I have been doing a lot of walking and climbing hills lately and I get home to achey tired legs! I stretch them out and curl them up also try put them above my heart yet there is still an achey pain in my lower legs from my knee to my ankles. I do stretch my legs out after a long walk to help my muscles and for flexibility which sometimes help but not always. Is there any way to ease this pain as it hurts in any position to stretch out or curl up :( can anyone help?