Many pregnant women suffer from leg cramps and restless leg syndrome, which occurs when your leg reflexively spasms into a kicking motion, and that the motion can wake you out of a good sleep. The syndrome is also associated with that creepy-crawly feeling (your leg feels as if it's being pinched). It seems to be caused by irregular levels of the chemical dopamine.
Some treatments include making sure you get enough folate (800 micrograms a day during pregnancy - 400 mcg in prenatal pill and 400 mcg in supplements) and iron (30 mg); applying a heating pad to the area also seems to quiet the disturbances. Also, try magnesium (400 mg) and calcium (1,200 mg) for leg cramps, as these minerals are naturally used by muscles to contract normally.
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