A bed vibration system to provide controllable vibrations beneath a mattress, which is located on a bed, the system comprising: a frame attachable to the bed by at least four suspension modules; at least two vibration modules, each vibration module having a rotatable element; at least two travel tracks attachable to the frame, the travel tracks configurable to have the at least two vibration modules respectively displaceable thereupon; and a vibration module control unit configurable to control vibrations and displacement of the respective vibration modules.