Wow, some great suggestions on this thread! Hot water bottles, with a moist, not wet, towel have helped me.
Also, like John Park, not into new age practices, but yoga and Qi Gong shaking exercises have helped me. For the shaking exercise, I was taught to roll my shoulders first in one direction, then another, while breathing, then shake my arms, then my legs, than all together. Can’t find a video like that, but here’s one that’s similar: https://www.youtube.com/watch?v=Xh0ZLeQNfrM
Physical therapy has helped with knee and feet arthritis pain. I’ll try to scan the exercises I was prescribed–they really help by strengthening the muscles around the joint.