I found placing pillows or a bit of support where body parts were feeling uncomfortable helped.

What she said! I have pillows everywhere, little one for under my neck, bellybean for under belly, extra pillow behind me to stop me rolling on my back (that wakes me up) and a pillow between my knees and one between my ankles. I wake up with them everywhere, but the support does help. My pelvic bones/area hurts alot also, and DP has to roll me over in the middle of the night.

Sammiejane's advice about switching off was also really good!