What could I do to relieve pain from limping?

Limping. The first thing i would do is fix whatever is making you limp. That will likely take care of the pain from limping.
Avoidance. Limping is a large source of hamstring and leg pain. Avoidance is really the best way to relieve this pain. Quad strengthening, and walking with a bent knee will keep the hamstring from overuse and tension. Quad strengthening also holds the knee in balance during walking.