I'm 34 weeks and have been having restless legs at night, too. Drives me crazy!
Make sure you're getting enough iron. I understand it can be caused by iron deficiency. Also, sex is a temporary cure (it goes away long enough so I can get to sleep) ;)
Thanks my mamaw kept insisting that something was wrong I told her it was no big deal or the doc would have been worried. it's miserable though!!
I experienced this with my second pregnancy it was awful i couldnt sleep of even relax half the time it was mostly restless legs and then i would strain and then get brutal charlie horses it felt like it never ended!!! Its normal but very annoying!!! Goodluck and i hope it stops soon!!!!