Someone mentioned foam rollers, I'm a keen user of them to get the niggles out, try to use it almost every day but it can be a bit of a pain! I've just upgraded to one of these beasts;
It's called a 'Rumble Roller' and they're utterly BRUTAL! But, once you've got over the agony, got the hang of it, and any initial knots are rolled out, it's an ace piece of kit. If you use it correctly I honestly reckon it's nearly as good as a pro deep-tissue sports massage.
Downside is it cost £40, but then again it costs me £45 an hour for my physio! Also, they come in blue (standard) and black (extra firm). I had the black one to start with but had to take it back to exchange, the bugger gave me bruises!