My 4 year old ( question)

Chelsey • 🔅Coffee dependent life form
My Son gets these urges quite often where he "needs" to pinch, slap, squeez, kick, or like tense up. And at night he like "twitches" as if his muscles are tensing up.. he isn't having seizures the doc said but it's so odd! And ideas??? 
We are always yelling telling him to not hurt or squeez his sister (she is 7 weeks)