Combine 1 Part Frankincense powder to 2 parts jojoba oil in a jar (Jojoba often lasts longer than other oils because it's technically a wax).
Place in a pot of simmering water and let simmer for 2-3 hours, stirring occasionally.
Pour through a sieve or cheese cloth, pressing with a spoon to make sure you get as much of the oil as possible. You may need to let it set for a day and pour off again, leaving sediment behind.
Add a few drops of rosemary essential oil or pure vitamin e oil to help preserve the oil.
Talk to your doctor, as frankincense may possibly interfere with some medications. If he or she says it is ok, I have taken this extraction with food (1tsp once a day) with success and have friends with serious joint pain who do so and have experienced great results. Otherwise, use externally on painful areas as many times as you see fit. Listen to your body.