To relieve stiffness first thing in the morning, pull up your knees into your chest while still in bed. Then down. Repeat several times. Then get up out of bed and stretch up as high as you can, on tiptoe if possible, then arms slowly down and bend the knees. Repeat 10 times. Helps a lot.

I walk in the pool and do water aerobics. I walk on the treadmill at least 20 to 30 minutes three to four times a week. I also do Zumba when I can. Ride my bike and lift 10-pound weights.
I also do chair yoga about 2 times a week or more. I work part-time so I have to fit the stuff in at the Y near us

I find the elliptical machine at my GYM to almost pain free. Getting out of bed in the morning is the most painful.

I do water aerobics and walk in the pool.

I have been doing a few muscle exercises. And when I went for my hip accessment . My bad hip had quite a bit of resistance. Great for recovery for hip replacement.