Dana ... I've had that same experience with both feet. Mostly one foot at a time, but it did happen once with both. It was extremely painful.
It usually happened in my sleep. I would wake up with my foot drawing forward and up as if my toes were trying to reach my shin. It was completely involuntary. I would use my other foot to try to press my foot back to normal, but then the affected foot would continue to curl DOWN and back as if my toes were trying to reach my heel! Once it happened with both feet at once, and I jumped out of bed and found that just standing in one spot without moving stopped it.
It also happened that my foot would curl under to the side. It happened a couple times while I was awake, when I was driving (EEK). Fortunately, in both cases I was driving slowly out of a parking lot, and I was able to pull over and park, and get out of the car and stand there till it stopped. I was really frightened to drive on the freeeway if, for instance, my right foot might start to press down on the accelerator involuntarily, so I restricted my driving.
It happened over a period of a couple months, maybe a dozen times, and then stopped. This was a year or more ago. I've never mentioned it to a neuro and don't know what caused it. I was not experiencing any symptoms in my legs at that point ... it was almost all bulbar and some weakness in my hands.
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