36 weeks and 4 days pregnant and having pain in my hips?

im 36 weeks and 4 days preggo and have this terrible pain in my hips .my feet and hands are really swollen and i have this tickling sensation at times right at the bottom.what is happening?als yesterday i had a clumpy discharge stainless and odourless.the night before hubby and i had and i had a HUGH .cud this be a bad for me. 4th pregnancy .forgotten all info on the last three with this regard.