This is going to sound too simple, but it is not.
I use Arnica Gel. It is a herb that reduces swelling, inflammation and bruising.
I rub it in every time I feel pain or discomfort. It works.
I was so debilitated from foot pain 2 years ago, before I was even tested for Lupus, I limped everywhere. Now, I just have mild discomfort when I first get up.
You can buy it at Walmart or most healthfood stores.
I am a Registered Massage Therapist and I use it on many many of my clients for chronic pain and inflammation.
It is gentle and effective.
Also, if you are more into pharmaceuticals (I am not), Voltaren has come out with a new topical anti-inflammatory gel. Talk to your doctor/pharmacist about it. It's available over the counter in Canada and I assume the US.