Even those who haven't been diagnosed with restless leg syndrome know how hard it can be to fall asleep when your legs feel achy. This pose helps stretch tight hamstrings and also improves circulation.
How: Lie on your back and extend your right leg toward the ceiling. Hold on behind your calf, knee or hamstring (wherever is easiest for you). Instead of thinking about pulling the leg toward you, focus on how your exhalation releases tension in the hamstring. Stay here for 10 deep breaths, or until you no longer feel yourself resisting the stretch; then switch legs.
Photo of Tara Stiles by Beth Bischoff for Slim Calm Sexy Yoga