Chiropractic care and magnesium lotion helped when I was pregnant.
Reading at bedtime can be especially tiring and help you fall asleep faster. Make sure there's no screens in your room either. The blue light can inhibit your sleep patterns. In the middle of the night, a red or amber colored light will preserve your night vision and make it easier to fall back asleep. If you're consuming caffeine, stop before 4 PM. You can also try some relaxing bedtime yoga. It helped more when I was able to do it in bed, I was able to crash when I was done.
Take a daytime nap!
Liquid calcium magnesium was so helpful for me. I got it from my local Natural Foods Co-op. I have also heard great things about the calm brand that sells this