Yoga is good
I try to do some meditation, sometimes when going to bed if I am in a lot of pain or it's been a particularly rough day I'll take a flexeril or lorazepam to help me sleep. Hot/Warm showers/bubble baths to help relax you are good too.
And then there are times when all you can do is fight through the pain and do what needs to be done. I hate those times *sigh*.