Try rubbing your belly. My LO does this to me sometimes. She'll punch me in the cervix or bladder or she'll kick me in the ribs. Just relax and rub your stomach or take a warm bath. You could even try talking to your tummy.
If I'm trying to sleep I'll roll back and forth gently on my side. He's always awake when I get up to use the bathroom during the night and if I don't do it he'll be kicking and rolling around for the next hour keeping me awake.