I get this as well. I sleep with a long pregnancy pillow between my legs. That helped alot but as the baby has gotten bigger I've started to put a small pillow just under my bump for support.
I'm 37 weeks and this helps take the pressure off my hips when I lie on my side. I do still have to change sides every few hours because if I stay on one side to long I still get pain.
Put a pillow between your knees and keep it there when you need to move. Move slowly.
^^^^^ oh my Gaaaaawd. A memory foam bed? That must be heavenly!!!
My in-laws let me sleep at their place because they have a memory foam bed. It helps a lot! I also have two huge pillows on each sides and my husband will have to make do with little space between us.
Sleeping is really my only complaint. I'm 21weeks. My hips bothers me as well, I have noticed that a memory foam pillow (the ones that curves like in the middle) helps alot. I put it between my legs long ways, crotch to below the knees basically . It molds to your body and has really relieved pain from pressure points including hips, feet, and even my back and shoulders.
I'm already like that at 23w2d.. I seriously toss from left to right because my hips and knees kill me..
which ever side I lay on, that hip & knee wake me up.. I sleep with a pillow between my legs (always have) & that doesn't help with the pain.. mine reaches from my face to my calves.. I'm short haha!
BUT my fiancé & I use 2 separate comforters.. I toss too much, my body temperature is insane, and I pee a lot.. ANYWAYS, because I have so much extra blanket & I hate to bring another pillow between us, I stuff some of it under my knee & hip (which ever I'm laying on) & it helps a little..
not sure what good that'll do you lol, but it's helped me.. I assume it's from me laying that way for a while, the extra weight? which I've only gained 5 lbs. so I'm not sure.. I get the same way on the couch while laying down, so it's not just at night.. "/
Paracetamol at a normal dose is ok to take during pregnancy, otherwise the point of the pillow between the knees is to keep the hips square, maybe have a look at your pillow position?