Watch the Sub I Major for VI Minor online guitar lesson by Robbie Calvo from The Modal Alchemist
I'm playing an F# minor 9 chord in our backing track and using an A major 7 arpeggio to improvise our single note lines. The cool thing here is that the 9th in the F# minor 9 chord is also the major 7th of the A major 7th arpeggio. If I target the note G# from my arpeggio I'm highlighting the 9th in the minor chord, which to my ears sounds rather tasty!
Spend some time playing over the track to hear what I'm talking about. You might find jamming over one chord pretty hard to make it sound interesting at first. Just remember this is an exercise in building your chord substitution vocabulary and make the best music you can with your new improvisers elixir.