I use a handheld, electric massager for my hands and feet which really helps. I also raise my legs up against the wall, 20 mins eveey day - you can lay on the bed or on a yoga mat with your butt against the wall and heels up... while there, after 20mins incorporate other exercises like rolling and flexing your feet, etc.
It guarantees me a great sleep. I think it takes time. Stick with it.

Message helps mine