After sleeping on a firm mattress for many years as I got older approximatly 40 I started to wake up with my arms and legs numb and achey!

I was only comfortable sleeping on my back!

Since sleeping on the temperpedic mattress I wake up less,without  numbness or aches and can sleep comfortably in any position.  

There are several thicknesses (I believe 5) to chose from my choice was the 10" which I found to have the right balance of firm & soft !

I would recomend this brand to anyone,but suggest going to a retail store that carries several models to see which level of firmness will suit you.

PS:...