Is it normal to experience hypnagogic jerk a couple of times every night while trying to go to sleep.

Yes this is normal: You are referring to what is common known as a "sleep twitch." these are absolutely normal although they may be aggravated by anxiety, stress or excess caffeine intake. Sleep twitches usually decrease in frequency as we age. If they are of concern, ensuring proper sleep hygiene may decrease the number of twitches you experience.

See below: If you are referring to hypnic jerks that are involuntary muscle twitches that occur at the transition from wake to sleep, having it multiple times per night may point to fragmentation of sleep by an underlying medical disorder, including sleep apnea, esp. If daytime sleepiness, periodic cessation of breathing, ; snoring occur. Consult w/ a sleep medicine specialist to help discern the cause of it.