Numbness in legs!!

Have anyone experienced numbness in their legs from your waist to your knees? I'm 34 weeks and I been dealing with this since 30 weeks. Dr said just walk around but I lt doesn't help. It feels better to prop my leg up. I can't stand more than 10min before my legs starts to hurt. I know the baby maybe laying on a nerve but what have you ladies done to ease the numbness?