I think I get restless legs syndrome, especially if I don't walk or move around enough during the day.

If I do some isometric muscle tense /relaxing for awhile that seems to help.

Or a homeopathic remedy called Restful legs. (Hylands)
http://www.hylands.com/products/restfullegs.php

Or if none of those help I take 1 or 1 1/2 Tylenol/ Advil/ generic PM OTC.
And/or a hot bath or heating pad on the legs...

My legs sometimes do similar thing on long car rides, depending on the comfort of the seats, but not if I'm driving..