Restless Legs Syndrome, also known as Willis-Ekbom disease, involves nocturnal lower limb movement (viaSleep Foundation).
During the night, you are not aware you are moving your legs.
Interestingly, 80% of those who have PLMD also have RLS (viaAmerican Sleep Association).

Unfortunately, there is no known cause of primary PLMD.
While PLMD is not a life-threatening condition, it can affect your quality of life.
Treatment options include medications that help reduce movements or ones that will keep the moving from disrupting your sleep.

If you have secondary PLMD, treating the primary condition might resolve it.
Hopefully, with the right diagnosis, you will befalling asleepand resting well in no time.