Love this mattress! I ordered medium, rather than soft because of a reviewer that said soft was so soft you could tool out of bed on accident... but now u wish I had ordered soft and I'm sure they were exaggerating. However, this is by far the most comfortable mattress I've ever slept on. I don't wake up stiff and my arm doesn't fall asleep when I sleep on my side (and because I'm a side sleeper, I do think I should have ordered the "soft" version). Overall, no regrets, because I'm sleeping better!