A heated sleeping pad will give some relief and acetaminophen (tylenol) given in small doses... about 1/2 tab once or twice a day may help a bit.
Aspirin (childrens size) will work too but dogs are like humans and some can't tolerate aspirin.
The way to give a dog a pill is to push with your fingers at the back of the jaw to open the mouth, pop the pill onto the back of the tongue, close the mouth and massage the throat. Give the dog some water by way of a bowl. The dog will drink on its own. Or put a pill in a meatball of dog food.
If the weather is warm, swimming will provide some exercise which is easier than walking.