I remember very well feeling like that in the weeks before Emily was born. So very sore and tired, and miserable and grumpy, and unable to sleep because everything hurt and I couldn't move. But one thing I found that helped a little was a nice warm bath before bed. Really helped the aching hips and legs, and just made me nice and relaxed, so that I got some sleep, if not lots.
Hang in there ladies - it's not going to last forever! You can do it!