We looked at a lot of mattresses and researched them also, and we decided on the Beautyrest Harmony Lux.  Just laying on it in the store, your whole body relaxes.  It took just a few nights to acclimate to the mattress - we'd been sleeping on a 25-year old SleepNumber before that!  Now I am totally amazed how quickly I fall asleep, and stay asleep on this Beautyrest.  We're VERY happy with our choice!