Your baby probably has dropped getting into position for birth. Ur body also produces a hormone called relaxin which helps relax Ur hip bones so the baby can pass through. I've had severe hip pain since about 22 wks prego-unfortunately completely normal. Try to do some stretches- the yoga pose warrior works great, maybe even go for a short walk.
Like his legs? My little boy often will push his feet or hands against my hip bones. Nothing to worry about :) I'm 38+6