@aspiring: Yeah in fact I usually do try to sleep with a pillow under my knees. If I don't keep certain limbs in certain positions they will fall asleep. But just as you suspected, no matter what position I fall asleep in that's usually not the way I wake up. I usually wake up on one of my sides, or on my stomach.
@Angela: Thanks for the link I'll have to check that out. I use Holosync for relaxation/meditation, but usually not to induce sleep. If you haven't already checked it out before I suggest you take a look
Holosync: Centerpointe Research Institute: The Most Powerful Personal Growth, Meditation and Mind Development Tool on the Planet
@Scooter: Thanks for the links as well. I actually had no clue what the specific causes were which is nice to know.