I’ve heard different things
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I've always heard not to but not going to lie, I do a lot (and have done it with every pregnancy). I'm currently 36 weeks and at least once a night I am too stiff from side sleeping and will go into my back for a while. I also feel like I'm basically lying on my back the whole time I'm on the couch with my feet up. So, not a doctor, but it's worked for me and hasn't hurt any of my 3 pregnancies.

It's up to you, but most moms I've met have a hard time doing so.

I slept on my back throughout my whole pregnancy, it’s how I sleep I physically can’t be a side sleeper. However I did prop myself up slightly. I slept with 3 pillows 😅