It might be helpful for you to schedule a quick follow-up visit with your doctor. Make sure there isn't a serious reason for the limp (tumor, infection, or fracture).
If you get the "all clear" signal, see your therapist. He or she will recheck your posture, alignment, strength, range of motion, and balance. One or several of those factors might be to blame.
The therapist will also check the entire kinetic chain of motion from ankle to knee to hip. Changes in any of the areas above and below the hip could be part of the problem.
Starting back where you left off may not be such a good idea. You might not be treating the real problem. Sore muscles from the wrong exercises or even the right exercises done improperly can set you back even more.
It won't take long to find out what's wrong and what to do about it. A small investment in your time and effort can go a long way to restore your full function.