Here are the recipes for using rosemary to relieve joint pain:

Bring the water to a boil, then add the rosemary leaves.
Simmer for 5-7 minutes, then remove from heat and let it cool slightly.
Soak a clean cloth in the warm rosemary water, wring out excess liquid, and apply it to the aching joints.
Leave it on for 15-20 minutes.
Use 2-3 times a week for relief.
3. Rosemary Bath Soak
Ingredients:
✔ 3-5 sprigs of fresh rosemary (or 10 drops of rosemary essential oil)
✔ A bathtub filled with warm water

Instructions:

Add the rosemary sprigs (or essential oil) to the warm bathwater.
Soak in the bath for at least 20 minutes.
Relax and let the rosemary ease your joint pain and stiffness.
Repeat 2-3 times a week for best results.