I worked at the School of Sport & Exercise Sciences and every lecturer said that the only thing the average person needs to do to keep fit and burn calories is swimming, walking and/or cycling (not necessarily in that order).
Jogging or running you need to be careful - if the foot goes down repeatedly at the wrong angle and also if you are wearing footwear not up to absorbing the shock and not supporting your foot well, you can end up with serious joint problems.
Swimming, imo, is a good all-rounder (if you like swimming) as it works every muscle group and improves stamina.