Stiff feet and ankles?

Is anyone else waking up with feet (mostly feels like my heels) and ankles that are so stiff it's like you forgot how to walk? If so, what do you do to help?

My feet are a bit swollen by the end of the day but it's gone by morning. So maybe it has something to do with that? But it's annoying! DH thought I was going to fall over as I walked to the bathroom this morning!