Found a great post on To-Done about getting better, more restful sleep. Points 4 (keep the bed for bedtime things), 5 (meditate) & 6 (exercise during the day) have worked for me for a long time.
I also like to spend some time breathing. No really. Doing focused breathing exercises where you bring your breathe low into your belly can really help you relax. It’s great for relieving the stress of the day and for calming the mind. Similar to meditation, I sometimes will practice breathing out stress parts to my day so to not keep them in my body.
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My name is Dawud Miracle and I'm a 
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Yup. I follow those three steps (except substitute meditation for self-hypnosis).
Still, you get those night’s where you just toss and turn and just can’t seem to shut your body down even though it’s exhausted.