I've found that putting my leg on my husband's side (if you have a husband, or boyfriend) and laying on my side, works awesome! If you don't have a boyfriend/husband, stack some pillows up like there's someone there and do it that way. My husbands getting a little sick of my leg, so I don't know how long I can pull it off for, haha!
My body pillow is a life saver lol. It's long enough that I can put part of it under my tummy and then part in between my legs while laying on my side. It is super comfy and I recommend one to every pregnant woman lol