Inversion tilts, or some gentle yoga such as downward dog, cat/cow
Is the baby breech? Sounds like baby is still head up. Even head down my baby is stretching her legs into my ribs, but not as uncomfortable as if she were breech and up in there too.
Try reading what spinningbabies.com has for tips in getting baby had down, that should help until the baby drops. Hopefully your baby isn't stubborn and will move.
I had the same problem but mine was at my leg vain? Dnt know how to explain but i got on my knees and hands like a dog n just move ur hips back n forth n side to side slowly n than get up slowly n rest in bed and see if that helps.. it helped me i can walk without having that terrible pain in my left leg. Im 32 weeks n congrats to u! Hopefully it works for u:)