When I try to sleep, my whole body feels like I need to get up and do something, and I can't sleep now. Help?

I've heard of Restless Leg Syndrome, but this is with my whole body. My legs, feet, arms, hands, and even my back all feel really weird. The only way I can describe it is that feeling you have in the morning when you need to stretch, and then you stretch and the feeling goes away. I stretched all night last night and that didn't do anything. I guess I am asking for either a diagnosis, or a remedy to make me able to sleep better. I really just want some answers from maybe someone in the medical field, or someone who has had a problem similar to this. Thanks so much!