I use Dr. Teals Epsom salt in the bath, also. I also put a tbsp of his bubble bath, along with some baking soda. (My fav is the aloe.) When I'm feeling weak and/or anxious, I'll soak about 30 mins.
But for my restless leg and bothersome hip, I use a hospital grade mag gel from "Health & Wisdom" (online). It stinks, but it works so well for me. I rub it on the bottoms of my feet and put socks on, before going to bed. Of course, I end up kicking the socks off sometime during the night, but by then the gel has soaked in.
I've also been told this is a good way to get the mag to the heart, which needs it since we are all so deficient these days.