Anyone know a CURE for RESTLESS LEGS?

I have had two bouts of it in my life. I used to get it badly as a young person. Late teens and early twenties was first bout, and it was intermittent. Second bout is now. The difference between then and now is that I'm married with kids. Before, it may have lasted all night, but my body would give in to sheer exhaustion and allow me to sleep eventually. I could also skip class, and had no responsibilities. Now, there is no escaping it whatsoever. I don't sleep, too bad for me. Short of taking meds from a doc, which I'm really not interested in doing. It leads to debilitating insomnia. Before the medical know-it-alls start asking questions...yes, it has happened with me being a daily exerciser. Yes, it has happened with me eating extremely healthy. Yes, I do have quite a bit of stress in my life. No, so far as I know, I do not have poor circulation. No, I am not habitually depressed. I am on no other medications, either. No, I will not smoke pot or drink booze as a remedy, nor do I have a desire for valium or anything of the like, but it's getting close to the point that I would try the valium.
IF ANYONE KNOWS HOW TO STOP IT ON COMMAND BY TAKING SOMETHING OR DOING SOMETHING, I'M A PERSON YOU CAN MAKE MONEY OFF OF, AND I'M WILLING TO PAY.
Hit me with whatever you got.