Hi there,
I too have experienced this kind of pain. A friend described it as feeling like one has been "kicked in the under carriage"!!! I thought that was a fairly accurate description really!
I am now 38 weeks pregnant and have been on elbow crutches for the past 4 weeks due to groin and hip pain and painful pubic symphysis. I've been seeing a physio who recommended the crutches and also emphasized that I need to rest lots (almost impossible with 2 other children and a DH who works long hours!!) as the less I do now the quicker the recovery after birth. I have had similiar pain with my previous two pregnancies but this is definately the most debilitated I have been.

I agree with the use of hot packs to help relieve the pain and keeping legs together as much as poss. in / out of bed and car etc. Sit down to get dressed and don't push any items along the floor using only one foot. It's frustrating not being able to do much but the end result will be wonderful!!! Have to focus on the positives.
Good luck to the rest of you soldiering on with pain. It's funny, before I became pregnant I never dreamt it could be so painful. It's especially painful when the baby moves and this seems to happen mostly in the evenings.
Anyway, goodluck and take care.
Kez.