stiff ness in feet after sleeping or feet elevated

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Hi for the last 7 mos. when I wake up and get out of bed, my feet are so stiff I walk like a crippled cow... progressively it has gotten so when i have my legs and feet in a reclining position when I go to stand up I am very stiff in my feet, occasionally it is in my legs up to my knees and once to my hips. Mostly the whole bottom of my foot is stiff, can hardly walk for a minute or so. As i get moving it gets better has anyone ever heard of this happening? I don't have pain.