Definitely invest in a body pillow. And if you can get an extra stress pad it can definitely help a lot.
I bought a pregnancy pillow, its the best thing ive bought in my whole pregnancy, its got a bit to hug, a bit to rest my belly on and a long bit for between my legs.. completley supports my whole body and bump. Ive had it from about 20 weeks and im 41+3 now :)
If not, try just using a pillow between your legs xx