Restless Legs at night

I have extremely bad restless leg syndrome during pregnancy. My first pregnancy i couldnt sleep and it was so frustrating that i would bawl my eyes out every night. I tried to walk before i went to sleep, take a hot bath and massage my legs but nothing worked. Finally at 9 months the doctor prescribed me ambien which helped but i felt extremely guilty for taking medication. This is my second pregnancy and at only 4 weeks im experiencing restless legs that keep me up at night. I dont want to have to go through the same thing i went through with my first and really dont want to ask the doctor for ambien again. Anyone else have restless leg syndrome and what do you take or do to relieve it?