My son did the same thing. They are usually curious, wanting to explore the world, but too afraid to do it on their own. Encourage her to get down and look at things, and stay by her side telling her everything is fine, mommy is right here. Now my son is 3, and he is bouncing off walls without mommy's help.
How long is she in day care , could she be missing you, seperation anxiety may be a factor , and would also account for her crying when you are there .Perhaps she also cries because she knows she will get picked up so you get into that cycle. , play games with her, when she cries distract her, get her Dad involved .Maybe not pick her up at the first squeak,once she is toddling around it will get better , trust me tis a moment in time ....