Thanks for providing more information.
As per your description,possibly such intermittent pin pricking sensation in feet can be caused due to nerve irritation in it's path.
And you may feel such symptoms at certain position.
So you should do massage with muscle relaxant ointment on affected area.
Try OTC Advil which can relieve any sort of inflammation around nerves.
You can soak your feet in warm water for 5-10 minutes.
Hydrate yourself with plenty of water.
Do stretching exercises.
Physical therapy can be effective.
Do regular exercises.
Elevate your legs.
Avoid prolonged hours of sitting in same position.
Other potential differential diagnosis may include peripheral neuropathy.
If your symptoms'll persist then consult your doctor.
Hope this helps.
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