I loved being pregnant and really didn't have much problem but maybe that is because I did all of the following.
walk, walk, walk. Exercise is a magic pill
pillows between my knees, one under my stomach and one anywhere else that feels good
reflexology - it is the foot massage to end all foot massages
Call around and see if you can find a massage therapist that has a pregnacy table, it is so nice to lay on your stomach for awhile
I don't understand why Tylenol would be okay but I always made sure that I go enough calcium, potassium and magnesium to ward of leg cramps
nap every afternoon - if you have other kids nap when they do