Pelvic pain is making it so painful and difficult to walk. Will it really go away when I give birth?

I felt so good this whole pregnancy, but around 34 weeks it's like I woke up one day and my pelvis feels like it's cracking in half with every step I take. The pain is in the back of my pelvis and it hurts to bear weight on my legs. I'm struggling to even walk around the house. If anyone has experienced something like this, did it go away right after baby was born?