how to adjust look cleat

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I've been riding for a long time...but as i age i have become leery about injuring my ankle, knee, and hip joints.....can someone please tell me how to correctly adjust my foot angle to minimize injury due to repetitive motion?

It may sound obvious...make sure ur feet are aligned straight...get someone to help you. I got my cleats adjusted at a bike store with my bike on the trainer. The guy was very helpful ( i did buy my shoes and cleats from there also). It may be worth asking around bike shops. I cant really give u too much more advice. Saddle positioning forward (esp) and back also affects the knees so it may be useful to investigate that also.