Hi Bianca,
I had this with all my pregnancies and know how painful it can be - for the last couple of months of my last pregnancy I was waking up every two hours to roll over because the pain in my hips would wake me.

For pain relief, I used heatpacks on my hips and also found that sleeping on the couch helped because it is softer than the bed and molded around my hips better, but that depends on your couch!
The other option in bed is to fold a spare doona or quilt under you for extra padding to make a softer surface to sleep on. At one stage I was sleeping on top of a double-folded doona and supported with four pillows to try and reduce pressure on the pelvic joints.

I hope you find some pain relief, warm baths help too, but getting in and out can be a bit tricky in the last few weeks.

Kerrie