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Hello and thanks for your question.It's my first priority to help you.
I understand your concern.
As per your description,it's nerve compression resulting in numbness,pain radiating to leg at certain positions like lay down.
Please go through link for exercises-
You should also consider physical therapy under physical therapist.
As you have degenerative arthritic changes so I would advise you to try such exercises gently and avoid forcefully as much as you can do comfortably.
Also warm compresses with a heating pad and gentle massage with topical diclofenac sodium ointment can be tried.
You should see your doctor if your symptoms'll persist.
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May I help you more?Feel free for further queries.Waiting for your reply.