The type of pain you're describing is inflammatory pain which is worsened by rest and improved by motion. It is typical of rheumatic disorders especially if it's accompanied with stiffness. It could be also that simply the mattress you're using is the cause! A thorough history and physical exam, relating the findings to age, gender, family history, activity, occupation (type of work you do) are needed to decide if you should do tests (blood work +/- imaging).
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It is recommended that all individuals see a Family Doctor for a full medical examination annually. Adults should get their blood pressure checked (US Preventive Task Force), a flu vaccine (CDC) and more each year.