Legs feel funny...

Okay so. I have mostly noticed this at night but sometimes it happens during the day. My legs feel.. Weird. Like.. There is constantly a dull ache in them and I feel like I can't let them relax all the way.. I feel like I am constantly keeping them flexed or.. I don't know. They hurt and it keeps me from falling asleep. Sometimes I have to move them, sometimes they will just jerk.. Like right before I drift off to sleep. Has anyone else experinced this? It's really annoying. It takes me at least an hour and a half to go to sleep, it's gotten to the point that I have to wait till my husband comes to bed so he can hold me still so I can go to sleep(just like when I was little lol) what can I do to help me sleep at night?! I don't mind getting up to go pee three or four times a night, it's the getting to sleep the first time that gets me!