Watch the Chords Tones in Motion online guitar lesson by Rich Maloof from Guitar 201: Breakthroughs
Melodies and solos emerge from the chords played behind them — that’s the heart of our approach to soloing. Whether a part stays close to the chord, adds notes that create a little tension, or deliberately introduces all kinds of dissonance, the chords are the foundation.
Think first about building small melodic ideas — phrases — using only notes from the voicings you know. The accompanying chart shows a bunch of D and Am voicings you can use. Roll the backing track and take this progression for a few spins. About 300 times should be good.