K.H.
I'm 34 weeks and have the same problem if I lay in the same position too long. At this point I just resign myself to interrupted sleep or no sleep for the next year:). Seriously the only thing that works for me is exercise during the day and plenty of it(a pool is super helpful) and an hour before bed to pop a tylenol, take a warm bath(or if you are as big as I am-a shower), and then a unisom sleep tab(ok'd by doc of course) and maybe chamomile tea!