I second the hot bath .... and some massage. You can keep it warm by placing a hot-water bottle on the area.

Keep the leg warm and you can even try and do some gentle streching with the massage
Try sitting cross-legged (place a cussion against the wall and press your back nice and tightly against the wall - just to give your back some support with the 36 week bump ) with the soles of your feet together (that is not really crossed-leg, but I am sure you get the picture) and then GENTLY press down on your knees ... you'll feel your inner thighs strech. Might not work within a day, but it will help ease the mucsle pain and break down the lactose-acid (that is the right word, hey??)

For your thighs (upper) you can just gently eaze down on your knees (like in prayer) and just massage the thighs.

Don't know if this will help, but it beat crawling around the house and I don't want to give you gloomy news ... but sooner or later you are going to have to go to the loo and with sore thighs, getting down to sit ... OUCH!!! (I have experiance!!)