About Four Weeks Ago I Fell While Hiking And Landed

About four weeks ago I fell while hiking and landed on my left knee. It immediately swelled up and was swollen, painful and hard to walk without limping for about a week. I iced it and wore a compression knee brace and It got better except I can't put any pressure on it while kneeling. That is very painful still 4 weeks later. If I had to self diagnose (and who doesn't these days) I'd say it is likely a bone bruise. Is there an point in having it looked out by a doctor or will it just heal up on its own? I am getting ready to begin a semester of hiking with my hiking group in a couple weeks but don't want to make it worse. I have hiked at least once since it got better and it didn't bother me while hiking. I just can't kneel on it is all. Thoughts?