Your description is typical of Restless Legs Syndrome (RLS). The restless sensation (like a static feeling from the nerves) can make falling asleep difficult. The associated leg twitching during sleep can result in brief awakenings making you feel fatigued and un-rested in the morning. The most appropriate medications for treating this condition increase dopamine activity within certain parts of the central nervous system. This, in essence, filters out the static sensations. Sedating or numbing medications are not recommended as a first line therapy in treating this condition. RLS can be passed on genetically and occur in family members, but other causes such nerve damage can also be a factor. Iron deficiency can also cause RLS because the brain needs iron to produce dopamine. RLS can also contribute to ADHD symptoms. Properly diagnosing and treating RLS in adults or children can result in improved sleep and daytime functioning.