Hi Dana -
The pillow between the legs idea is a good one. It didn't always work for me but I did it anyway because it did become more comfortable as my belly grew. Also, I would stretch my back on all fours, like a cat stretch (tailbone down, head down). If you know yoga, it's cat/cow but don't do cow (which is tailbone up, chin up) when your pregnant!! Do cat then come back to neutral spine. Another one that helped me was laying on one side (left, usually) and doing hip tilts. Try doing stretches everyday to avoid it possibly getting worse. If I get pregnant again I'm going to do these things everyday even if there is no pain! I waited too long last time. Hope this is helpful.
Diana