After a couple different style mattresses, and no relief, I tried a pregnancy pillow. It has made a huge difference for me! I sleep on my side. It is a pillow for my head. Support for my back, and curls up between my knees. I can't say I still don't wake up a little stiff, but way better than before. I sleep through the night a lot more also.

Memory foam is somewhat relieving, but the air bed is the best bet. You can adjust the firmness to what feels best for you. I have the Select Comfort brand, but there are less expensive ones, too. I also have an adjustable bed frame, which was a lifesaver for me. My feet and back are so bad, I work on the computer from bed and spend the majority of my time here. It allows me to sit up without my feet swelling, and yet I can adjust it down to watch TV.

You can get a memory foam topper for you current mattress and see if that makes a difference. I have one on my bed and it eases my sore hips.

I have tried several and find that as time goes on, I have more and more difficulty sleeping. I can't seem to find a comfy position. However, I do find the love seat to be semi comfy.

Memory foam! ....