I'm 28 weeks and still sleep on my back, but do have pillows to prop me up. If I sleep on my side he kicks constantly, I think he doesn't like it lol.
You can prop a pillow under your right side so you are angled. Or sleep half on your belly and half on your side. My doc said just keep a 45 degree angle to keep the pressure off the veins. Personally I can't do the back at all anymore cause I get dizzy and can't breathe well and my belly aches if my legs are not bent. But if its not disturbing you any you should probably be OK.
I tried it, i was pretty much sitting down and it hurt my b.utt big time, now i just surround myself with pillows, i hope you get some good rest =)