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This is called Restless Leg Syndrome. It is very common during pregnancy. I went to my dr with this problem when I was about 6 months in, and they prescribed me a low dose of muscle relaxers. They help tremendously.
Also, if your laying on your back when it happens, Your not supposed to sleep on your back or lay on it really..
I did this in my third trimester. My doctor said that it is common. My son was extremely low and he was pushing on my nerves. It was only my right leg. Massaging my leg helped.