When i lay down, everything is fine. then after about 15-20 minutes, the legs and feet and maybe my hips too start to vibrate and sometimes it prevents me from going to sleep. it has been going on for 5 years now, and when i get up sitting for 5 min?

Could be epilepsy, restless legs, electrolyte problem. See a neurologist a doctor that specializes in nerves to get a complete check up and diagnosis.

Almost certainly, you have Restless Leg Syndrome. Contact your doctor, check blood tests, especially ferritin levels. Decide if dopamine agonists should be tried. See a neurologist if more specialized and focused approach is advised.