Suggest Treatment For Circular Knots On Shin

Hi, I have a couple circular knots on both of my shins, seems to be directly on the bone or beside it. They don't hurt but I've recently started working out and when I walk fast, run, or walk for a long period my shins feel like they're on fire. Also, my legs go numb or are tingly at random times whether I'm active or just setting? This really scares me because my mom and dad both passed with cancer and I want to rule this out. I'm only 29 and scared too death...with no insurance right now. Please help me by answering my questions. Thank you and God bless.