Choose the correct mattress. A recent survey revealed that most people find a medium-firm mattress with a pillow top the most comfortable. It provides support, but is not too rigid.
You should not have any air gaps between your body and your mattress. Turn your mattress clockwise or over every few months to avoid indentations.
If your mattress sags, place plywood underneath your mattress. An egg-carton foam mattress on top (underneath your sheets) may provide added support and comfort. This may extend the use of your current mattress
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