Are you riding a road bike or a mountain bike? It could make a difference.
I agree with the excellent answers given. Making sure that your bike fits you is critical–handle bars not too high or low, seat not too high or low.
The other point made is to keep your upper body as relaxed as possible, shoulders back and down.
Don’t squeeze tightly with your hands on the handle bars (unless riding on rough road!) And periodically take a hand off the bars and rotate, flex and extend that arm, flex and extend your fingers, retract the scapula.
Last, I assume that you wear good cycling gloves. They’re important.
Take care. Good luck.