Sacrum back pain and swelling

Monica
I'm hoping someone can relate or help me figure out what's going on! At about 5 weeks pregnant when I'd fall asleep my legs would go numb and few weeks after that I started getting really sharp back pains where my sacrum is. Three weeks ago I noticed that the area where the pain is has swollen up. There have been a few days where I can't walk and it's happened twice where I feel that area crack and I swear I'm going to go paralyzed (I'm probably exaggerating) but it makes me nervous. I'm 15 weeks now and my doctor has only recommended prenatal yoga but I'm positive there's more going on. I was in a car accident in March so maybe it's because of that but I'm not sure ☹ HELP!!!!