It seems to me that the biggest thing is having a bike that is fitted properly to you and the right style for the riding you want to do. Have the saddle set too high or too low (hips rocking) and the setback wrong will give you back and knee pain. Bars and controls wrong will contribute to wrist and hand discomfort. Stretching and yoga can help a lot as well. My body isn't as tolerant of poor fit as I get older as it was when I was a teenager.