People that feel their baby kick?

This probably is a question best asked for women in the 3rd trimester, but – as your baby is running out of room, do some of the kicks/punches hurt? Also, I am carrying low, and she’s been head down since 23 weeks – along with the kicks/punches, I feel a kneading feeling all along my lower abdomen. Sometimes it’s not pleasant at all… I miss the nice little kicks and pokes. Do you feel the pain of some of the movements (I’m 31 weeks pregnant).