I get restless legs often, what I've found works for me is making sure I give them enough 'attention' before I lay down for the night. What that means for me is doing some jumping, pushing up against things, making sure that i get a lot of muscle input specifically around the legs. I think once I learn the brushing protocol, that'll help too, but for now these combined work for me. If I do'nt do that, I end up crashing my ankles together painfully as I'm laying on my stomach doing stuff on the computer.

For the actual leg pain, which I get too, I try to massage them and sometimes forcefully flex them, if that doesnt work then I take some pain killers :p