neck and shoulder pain from mattress ?

Does anyone here think that our matresses add to our problems of stress and not sleeping well. I am usually having some type of pain. My neck and shoulders usually hurt everyday and that's accompanied with a severe headache a lot of the time. Recently my neck has started to hurt in more places and my right hip hurts occasionally, too- usually after picking something heavy up. And believe me, I know, that our own stress and anxieties can give us some of these pains. I sometimes think my mind starts everything. But the pain is actually there! If only I could get my powerful thoughts to do something really positive! Maybe I should wish for a million bucks!
Anyway- back to the matresses- My father-in-law owns one of those tempurpedic (not sure I spelled that right) and he swares by it. My husband and I have slept on one in his guest bedroom. I sometimes wake up feeling a lot better, but other times feel pretty much the same. We're in the market for a new matress this year and I was just wanting some advice if you're one of us that seem to wake up stiff and with headaches all the time. Do matresses really make a difference? I would welcome any advice!!! Thank you.