I've had RLS for 45+ years and have used a variety of OTC meds and prescribed meds over the years. Studies found that Elavil (an antidepressant) taken in small dosages helped calm the muscles and that worked for me for a couple of years. I've also used Valerian Root and found some relief, but had to gradually increase the number of capsules taken. I've just begun using Requip and found it very helpful. The only issue I have with it is that one of its side effects is water retention. By the end of the day, both legs swell to such an extent that I feel like I'm dragging wet logs around. My physician has increased the dosage of the diuretic I take to keep the fluid retention under control.
The constant need to move my extremities exhausts me and I find it difficult to sit still. My doctor suggested I stop the meds to find out if they are the cause of the fluid retention, but that scares me more than the fluid retention. He did suggest trying the ivory soap route which I'd never heard of before, but laughlingly asked that I not mention that he'd suggested it. If it does work, he's going to push for a study as a number of his patients have told him that ivory soap works. We'll see. . . .

I have found that eliminating my intake of caffeine has greatly improved my RLS symptoms. As a child, I too had horrid cramps in not only my legs, but also in my feet. Many a night my dad would rub the cramps out of my feet and legs so I could sleep. Sadly, now my children suffer from the same "cramps". I have also started taking Magnesium, Calcium, Zinc, and a good daily multi-vitamin. I still have the twitchies in my legs, but the pounding, racing heart beats have dissipated.

The funny (ok, not really) part is that mom has fibro, dad has RLS, and at 34, I'm already showing signs of both. I think I'm going to try the soap thing as well. After all, what harm could it do?