welcome to health care magic, you are suffering from restless leg syndrome
.it causes uncontrollable desire to move limbs to avoid unpleasant sensation.It is more rampant during stress.in most instant ,itis without any cause but some disorders are encountered in small percentage of patients like peripheral neuropathy
anaemia and so on.you better do some investigation like CBC,iron profile,s.creatinine to evaluate condition. you may help from gabapentin,pregabalin,for insomnia darmicum 75.mg or clonazepam. others treatment depends on findings of investigations.I would like to hear further of your condition.