To provide relief in night for changing positions:

Use cushions or pillows between legs (place them under knees and feet)

This not only makes your PALS comfortable but will also help them in
moving easily throught out night.

It may happen that with time, your PALS are not able to move their
limbs freely.
Such small adjustments will keep them comfortable thru out the night
and they may not feel the need to change positions.

Hint: Use big pillows and soft cushions for best movement.

More to come from where this one came.

Keep a note.

Cheers.
Gaurav..