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aww mama, i feel your pain... i too am cursed with twitchy legs and i found that putting a pillow between my legs, as i sleep on my side, really helps. Also stretching before bed, like a runner stretches their calves by standing, or other ways... And the active baby, arrrg, some are more than others, and there isn't much you can do about that other than try to tire yourself out before bed so you fall asleep hard and don't notice baby.
Good luck!!!!

Other then seconding the pillow between the legs, my only other suggestion would be to make sure you aren't taking your vitamins before bedtime. I know it can make mom have a hard time sleeping, so maybe it does the same for the baby?

Tylonal PM. My Dr. said it is safe, and it helps me sleep, and takes away the pain and discomfort.

have your tried the pillow meathod .. put a pillow between your legs i am currently 34 weeks and i have a night hawk in me as well .. i find if i sleep with a pillow between my knees its a little more comfortable and makes the movements less noticeable .. good luck momma !