Trying non-medicinal things is a good start, like resting, ice or heat as appropriate, but sometimes, your best bet at pain relief is from pain relievers. There are many over the counter medications available, but many of these are not good in pregnancy because of potential problems with your baby. Tylenol is considered to be safe in pregnancy for all three trimesters. While nothing is 100% safe or effective, this over the counter medication is a very low risk to you or your baby in pregnancy. It is wise to talk to your practitioner if you have aches or pains that recur on a frequent basis, particularly headaches.
It is not considered safe to take ibuprofen (Advil, Motrin) or aspirin in pregnancy unless prescribed by your doctor or midwife.