Protect your posture
Posture is just as important when you are driving as well as any other time. Adjust your seat so that you are close to the steering wheel. This makes you less likely to slouch or strain to reach the pedals. Angle the seat at 100-110 degrees to encourage you to sit correctly.
Hold the steering wheel at "quarter to three' position to help prevent shoulder, and back pain.
Pacing yourself is important when driving so make sure you take regular breaks. Whenever you take a break, get out of the car and go for a short walk, or do a few stretches. If you are driving a long distance, consider getting a hotel room and breaking it into two days. To ensure you don't overdo things, share the driving with a partner or friend.
If your car has heated seats, turn on the heat to help soothe aches and pains. If you don't have heated seats you can buy car seat covers that heat up.
Ease the strain
If your hands are painful, use a wide car-key holder to make it easier to turn on the ignition. Wear driving gloves to make it easier to grip the wheel. Consider purchasing a steering wheel cover that is soft and pliable.
Cover the seat with a silk scarf to make it easier for you to twist around when you get in and out.