Suggest Medication For Numbness In Hands,feet And Painful Joints

I am a 44 year old female and I have had numbness in my hands and feet and painful joints in my hands and feet for several years now. In fact the hands first started in about 1990 and the feet probably about 4 or 5 years ago. At first I would just put my arms down and shake them and after a while, it would go away but come right back in a matter of minutes. Now, the feet and hands are numb most of the time and it's painful like frostbite. My hands and fingers hurt to grab things and pick them up and I have weakness and pain in my right elbow. I guess I have just put off visiting the doctor for too long now.