If we leave aside your favorite sleeping position, you can get less pain and better sleep if you supplement your body with a pillow. The people that are sleeping on their back can place a small pillow beneath the arch of their spine, side sleepers should place a pillow between their knees, and those that sleep on their stomach can put a pillow under the hips, which will support the joints and help them enjoy a full, painless relaxation.
Each person has their own sleeping preference, which in turn has its own pros and cons. The important thing is to be able fall asleep and sleep for the appropriate amount of undisturbed hours. Getting enough sleep will provide you and your body with several different health benefits.