I'm 31 weeks pregnant and sleep on my left side pretty much all night. This baby does let me get in…

I'm 31 weeks pregnant and sleep on my left side pretty much all night. This baby does let me get in a good 20 min or so sleeping on my right before he beats the heck out of me...either way when I wake up my left hip feels numb & my right hip hurts. Has anyone else felt this before??