I've got the same problem, the exericses i have been recommended are calf raises (standing up on tip toes), walking on the outsides of my feet and curving my foot to make an arch whilst i walk, combined with plenty of streching in the calfs and upper legs.
I spent years walking around with collapsed arches, so much that my entire musculatur and skeletal systems are out of whack, and i'm dependant on supports, but they make the world of difference to hip and knee pain. Working out regularly helps too, i think because the stronger muscles and tendons help keep everything in place.
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