What Can Cause My Legs Itch And Burn?

My legs itch and burn everytime the are touched by me or another person. They have been like this for as long as i can remember. They itch so bad that if I scratch them or rub them they itch more and i end up with sores all over. I have also noticed that when this happens the muscle underneath is hard and tence. Please help it hurts so bad I dont know what to do