My hips and pelvis have been very sore throughout the night for some months now and I finally got around to putting a doubled over doona under the sheets on my side of the bed and I can't believe the difference it's made! I suffer from other aches and pains now but my hips have been so much better since I added the extra padding to my side of the bed. I also read that a piece of foam works well too.
I'd also recommend seeing a physio who specialises in pregnancy related issues. My physio has been great for my preggy issues and I got a sacro lumbar support belt through them for my back and that has really helped too.
I used to have achy hips when I wake up and we got a foam underlay thing that goes under the bottom sheet and it's made a world of difference - kind of like the doona idea I guess. But I'm not pregnant so maybe this wouldn't be enough - worth a try.
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