I am restless, can't sit still very long at a time, I kind of jump once in a while, I feel numbness and tingeling at different places on my body

How old are you? What is your general health? Family history? Activity? Medications or supplements? How long has this been happening? Where do you feel numb? How long does it last, and how often?
People online can't diagnose, just steer you towards where to go, who to see, when maybe.
It's always best to see a doctor at a regular appointment rather than an ER. Second best is a walk in clinic, but your symptoms sound unusual enough to not be handled well at a walk in.
So in addition to the questions above, do you have a doctor, and if not, do you have insurance or can you pay?
If you can sign up for a plan, do it before you see a doctor, if you can, just in case you have a serious condition. (I'm not saying you do.) Some plans it won't matter, like HMOs.

If your legs are restless, try some OTC quinine pills in any drugstore, for restless leg syndrome. But if it's more than that, you could have something that is slow progressing and neurological, of which there are many conditions. If you are on any medications, that's your first stop - the doctor who prescribes them.