It sounds like you may have either Restless Legs Syndrome, or Periodic Limb Movement disorder if your legs are keeping you from falling asleep. A sleep study would determine that.
I've got both, along with a good case of sleep apnea...and if that's not enough, I suffer from depression , post traumatic stress,and anxiety as well...the anxiety is worse at night because I'm afraid to go to sleep...that's when I have panic attacks about dying.