A detachable bed handle providing support and mobility assistance for a user on a bed or similar furniture is disclosed. The detachable bed handle may couple with a base portion that can be mounted on a bed frame or bed base, or be positioned between a mattress and a box spring or bed base. The bed may be an adjustable (articulating) bed. The bed handle may have a gripping member that is shaped so as to avoid areas of potential entrapment of a user's body between the bed handle and the bed. Entrapment areas can be avoided both when the bed is in a nonarticulated state and when the bed is in an articulated state.