Sounds like Restless Legs to me. I have them, have had them since I was a kid, along with PMLD (Periodic Limb Movement Disorder--which means I am very very kicky in bed--doesn't bother me so much, but I feel bad for my husband). Apparently, the condition is common in pregnancy, too. I've kind of grown to live with it--maybe some others might suggest their coping mechanisms? I hear hot packs, cold packs, light exercise, etc. I think that acupuncture would probably help, but I haven't investigated it.