What is the home therapy for muscle spasm of the hips, arms and feet?

Heat. I would recommend heat to the area for 20 - 25 minutes and then stretching the muscles gently.
See below. Stretching, magnesium, infra red sauna, hot baths with or without epsom salts. Acupuncture and chiropractic can also be helpful. Muscle spasms can sometimes be caused by electrolyte imbalances so have your levels checked by your doctor.