My knee is turned inwards and I have shortened Achilles tendons. Help!?

My Right knee has been turned inwards for as long as I can remember. My right foot turns out to the right and my left foot is straight. Not only is that an issue for me but I have shortened Achilles tendons in both legs. My mother told me I have always walked on my tip toes. When my feet start hurting from being on them too long I try to walk on my heels like a normal person and they my hips and knees will start hurting. They will pop and click until I start walking on my toes again. The best therapy for this has been wearing heels but I know that in the long run that will hurt me. Also I am a waitress and I'm on my feet all day at work. Walking is just becoming more difficult each week. please help. :)