What Causes Loss Of Balance And Tingling Sensation And Numbness In Ankles?

Hello, I have two questions - At night, I have a numb/tingling feeling in my ankles and feet. I feel I need to move my leg around to stop the feeling. Sometimes during the day I have difficulty focusing. It can happen when I am standing or sitting, and makes me feel off balance. I sit, relax, and breathe, and it usually goes away. I am 55, 5 8 , 180 lbs, and have started more physical activity and decreasing stress.