Ways to ease hip and knee pain during sleep?

Does anyone know how to ease the pain of my hips and knees while I sleep? I have a pregnancy pillow that goes around my body and between my knees but it's the hip and knee that I lay on. Whichever one I fall asleep on I wake up in terrible pain. I'm starting to wonder if it's my mattress. My back also aches but I'm afraid to get it adjusted while pregnant because my husband always does it and our insurance doesn't cover the chiropractor.