If you have numbness in your feet and restlessness I would would be concerned about some sort of neuropathy. Neuropathy is a medical term for nerve disorder or damage. People who have diabetes tend to have neuropathy in their feet. Sometimes the neuropathy can be from other causes such as a b12 vitamin deficiency. Regardless of the cause of neuropathy there are specific medications that may help with this feeling of restlessness and numbness that you have. Medications such as elavil or neurontin are sometimes very helpful for this sort of problem. If you do have diabetes if you control it better it can help as well.
You should have an exam and labwork at the doctor's office and describe your discomfort. Then the doctor will be able to prescribe for you the medication that will help you best.
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Sincerely, Jennifer. I hope my answer helped you. If it did please be sure to give me a good rating. If it did not please contact me as I would be happy to help you further.