What Causes Tingling And Numb Feeling In The Hands And Feet?

I am 43 years old. 5'9 & weigh 162 lbs. The past few months I have been having a lot of aches & pains, knees, legs, hands & feet. Also my hands & feet have been falling asleep for no reason- a tingling numb feeling. The past 3 -4 days, my skin has felt warm, almost like after a bad sunburn. No idea whats going on?!