People of any age, including children, can have RLS. Often times people with RLS want to walk around and shake their legs (or arms) to help relieve the uncomfortable sensations. RLS typically occurs in the evening, making it difficult to fall asleep. These sensations usually occur when lying down in bed or when sitting for long periods of time, such as while driving or while at a theater. It occurs along with other sensations in your limbs described as pulling, creeping, tugging, throbbing, itching, aching, burning or crawling. Restless legs syndrome (RLS), also called Willis-Ekbom disease, is a sleep disorder that causes an intense, often irresistible urge to move your legs (and even your arms or body).