Hip pains while sleeping?

Kd4

This morning and the night before I've had this ache in my hips when I try and sleep. The pain feels like I walked ten miles and they're sort of restless if that makes sense. I tried putting a pillow between my legs and when that didn't work I tried laying on a pillow so maybe the softness would be easier on my hips but that didn't work either. The only way they stop hurting is if I lay on my back and I know its not recommended to do that for a long time either. Have any of you ladies had this problem and if so have you found anything that relieves the pain or at least eases it (that doesn't include taking something)?