My feet have ached since I was around 16 years old. My parents took me to an orthopedic specialist who couldn't find anything. He gave me some inserts for my shoes but they always made my feet ache more.
I've just learned to live with it. Some days are more painful than others - when it gets really bad I elevate them and take some Tylenol. Invest in really good shoes, they help.
Check with your doctor to see if your circulation is okay - could be a sign of diabetes (sorry if this is too scary, but important to catch early). Good luck.