Restless Legs Syndrome?

I didn't know RLS existed until I saw the commercial about it. Ever since I was a kid I've had an issue with moving my feet and legs around when I'm laying down. I have this problem usually at night and because of it I can hardly ever get a full nights rest. I never thought it was a problem but then I read more about RLS. I do get the symptoms in the daytime too. My symptoms are:

- constantly moving one foot back and forth because I "need to" while trying to fall asleep. ive been doing this since i was at least 4-5 years old.

- strange tingling sensations in my legs, a feeling like i need to 'stretch' but it doesnt relieve it.

- i sleep with a pillow between my knees which i know some people do for their back but sometimes it helps my legs feel better.

- recently i was falling asleep while sitting, and i got a sharp tingling in my legs. it was extremely uncomfortable. it was like jolts of a tingling sensation. but that was the first and last time that 'episode' happened.

i dont have any other health conditions. im only 22. i have poor circulation so when my extremeties get too cold they hurt, but thats different from these tinglings. im also a dancer, but only in the past 6 years (not my entire life).

if someone does have RLS, do you need to take meds? i am not a fan of meds... is there any natural way to relieve these annoying symptoms? constantly throughout the night i wake up, toss and turn 5-10times and i think its because of my legs...

thanks!