Do any of you know of a short but relaxing routine I could practice before sleeping? I've been having difficulties sleeping and have heard that a regular stretching routine before bed can help...

Yoga promotes blood flow throughout the body, which reduces pain while strengthening your muscles and joints. I find that if you can handle heat, Bikram yoga is particularly powerful. A friend of mine has been virtually cured of arthritis by practicing Bikram on a regular basis.

I am such a fan of downward dog. It's really rewarding to see your heels get closer and closer to the ground with lots of practice! I also just like to do heel stretches with weights in my hands.