The only thing that relieves my RLS when it gets bad is Yoga stretches. There are many books, CDs, DVDs, etc. that can teach you some simple moves, and the balance poses work great on the thighs, and hips, as abs and back muscles (my back muscles can even get restless at times).

Once you learn a few moves be sure to hold the maximum position as long as possible, pulling your muscles taut. This will ease the restlessness, as well as improve muscle tone, and help with your balance. There's been more than one time I've gotten up out of bed at 2 am to do yoga to ease RLS. Sometimes only 5 minutes is all I need. Sometimes more.

Good luck. This stuff really blows bigtime.