Why Your Body Twitches As You're Falling Asleep

We've all been there, in the space between sort of awake and almost asleep when we feel a jerking or twitching within our body. Sometimes the movement can be so strong that it kicks out a leg. Why does this happen?
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We recently had a horrendous wave of nasty thunderstorms roll through and my six-year-old son woke me to ask if he could climb into bed with me and if I would hold him until the storms passed.
As I held my son in my arms and heard his breath slowing, I felt relief because I'd been afraid that the intensity of the storms would prevent him from falling asleep, but the slowed breathing indicated to me that he was almost in dreamland. And then, his little body twitched.

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