I can't stop my annoying habit of pacing

All my life I have been a very active person. My parents growing up stressed the importance of physical health and had me very active in sports. I can't remember a time in my childhood where I wasn't on at least one team at any time of the year. If I don't get enough exercise built into my day, I feel as if I'm going to go crazy. In order to stretch my muscles in some small way I find myself pacing around the house. The less exercise I get, the more I feel the need to pace which the members of my household find very annoying. I can't rest and go to bed though until I've somewhat have satisfied my muscles.