The invention concerns an adjustable bed with selective rocking motion. The bed comprises a plurality of body support sections (12, 14, 16, 18) mounted on or in relation to a moveable cradle (25). The body support sections include at least an adjustable back section (12) and a fixed middle section (14) adjacent to the back section, and optionally an adjustable upper leg section (16) adjacent to the middle section and an adjustable lower leg/foot section (18) pivotally connected with respect to the upper leg section. The body support sections are mounted with respect to the cradle to allow angular adjustment of their relative positions to alter the configuration of the bed. The cradle is movably mounted on or in relation to an intermediate support carriage (24) for fore and aft rocking movement with respect thereto. The intermediate support carriage is movably mounted on or in relation to a fixed base (22) for translational movement with respect thereto in response to angular adjustment of the back section and/or rocking movement of the cradle.