Does anyone else who co-sleeps wake up in pain?

I'm waking up every morning with super sore joins in my neck, shoulders and elbow from having my arm positioned up and around my baby (10wks) - think dingle-dangle scarecrow arms...

It's been a while since I've had a newbie in bed and I'd forgotten about this pain... I love co-sleeping, but im not waking up at all refreshed or rested. Not sure if anyone's found a way of sleeping that doesn't hurt...