I got a wooden step stool that's in the children's department at Target, it's not very tall, and our bed is, but it leads to a bench so he has no trouble with that. It's got a little storage area for toys, which is handy. With a regular height bed, it would probably be tall enough. In the living room we just use a small bed by the couch, and he jumps on that and can than reach the couch. We have wood floors and I thought this would help cushion his joints a little. Here's a link to the Target steps, and they come in many different colors.
Step Stool with Storage - Honey : Target