I went shopping a couple of years ago for a new mattress for this same exact reason. I did a lot of research then visited every place around here that sells mattresses.
The three I would advise you to take time looking at would be the Latex, Memory Foam, and the Sleep Number.
Mattresses with springs create pressure points which end up causing pain after time.
I ended up choosing the Sealy latex mattress with a pillow top. You still have to rotate it head-to-foot and after a few years I have noticed there are indentions that cradle the body but I've read that a certain amount of that is normal and it has NOT caused me any back or hip pain, so it doesn't bother me.
I didn't like the 'creeping' feeling the memory foam gave me and I worried about the life of the sleep number.
Overall I am very happy with my choice, though I don't think there is a perfect mattress out there.