my osteopath recommends a few stretches before I get out of bed. I bring one knee up to my chest and hold for a few seconds then the other, then both and then lower my knees to the left then to the right. I've been doing this for about 10 years now but when I start to feel stiffer than normal (or it hurts and doesn't wear off when I start to move around) I go back to my osteopath to get 'stretched' back into shape.