Take a hot shower and use heating pad and Tylenol. .. you will feel so much better
I've been in the same boat for a few months. My doctor said heating pad on/off, Tylenol, warm bath and the yoga that was mentioned previously.
It sounds like it may be your round ligaments or hip flexes. Both can cause pain in pregnancy. There are quite a number of yoga stretches you can do to help. You can find videos on YouTube.