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Soft carpeting and rugs feel warmer than other surfaces and provide more cushioning. Using these surfaces is somewhat similar to laying on a mattress. You will most likely have an easier time falling asleep and experience less stiffness when you wake up. Sleeping on a hard surface is possible if you don't have any other choice. It isn't very different from sleeping on carpeting, but take extra time to prepare your bedding. Pick something that will give you a lot of cushioning, such as a quilt or sleeping back. If you don't have anything thick enough, stack a couple of blankets together. Test your sleeping pad out to make sure it provides plenty of support for your back. In some parts of the world, people sleep on the ground using insulated mats. Tatami mats are great for repeated use, but massage mats, futons, and even yoga mats also work. You only need 1 good pillow. Choose a pillow that feels comfortable when you lay on it. Make sure it's thin so it doesn't lift your head too much. If it raises your head too much, it forces your neck and back out of alignment, which you will feel in the morning. Stacking pillows isn't recommended since it has the same effect as using a thick pillow. Stack pillows only if doing so makes you feel more comfortable while you sleep. If you ever find yourself without a good pillow, your arm doubles as one. It isn't the most comfortable position to be in, but it works in a pinch. Once you have your base set up, complete your bed with some top layers. What you need depends on how warm you feel. Floors are often much colder than a mattress, so plan on having at least 1 warm blanket or thick comforter. Don't underestimate sleeping bags. They are a source of warmth and comfort whether you're out in the wilderness or at a sleepover. Now is when you bring in the thicker pillows. Identify any spots where you feel uncomfortable against the ground. The most common spots are the knees and hips. Slide the pillow underneath you for extra cushioning. Be careful not to lift your body too much. Slide the edge of the pillow underneath the part you need to cushion. Make sure your body is aligned with your head to protect your spine.
Choose a carpeted spot if this is your first time sleeping on the ground. Lay a thick sheet or mat on the ground. Place a thin, soft pillow at the end of the bed. Get a warm blanket to cover yourself at night. Bring a second pillow to cushion your joints from the ground.