Memory foam! Both my husband and i have had back surgery and have s.i. Joint issues. Now that i have RA, i couldn't imagine using something else. They last practically forever and the pain relief is immediate and priceless.

I used to sleep on a very firm mattress, we bought a sleep number bed I set to 75-80 woke up very sore after 3 days, kept lowering the number with no success right now I am at 35 and it is much better but still not what I remember on the firm mattress, I don't think sleep number is the way to go

You might try a bed topper or feather bed on top of your existing mattress. They sell them at Bed Bath&Beyond, Macy,s... also try a smaller pillow under or between your legs and feet. I even have a pillow for my arms. My husband just laughs and laughs at me but at least I'm comfy.

I have a sleep number bed which I love. You can adjust your firmness and softness which is huge for me. I also added in the adjustable base so I can raise the head and feet which is amazing for when i am icing my knees and feet etc or if I am doing school work. Only bed I will ever have from now on. Some days I need it softer and some harder so it's nice to be able to change that when needed

I've had to get a new bed too. I got an adjustable one and lately I am very thankful I got it because I have to sleep with my legs elevated.