The feeling you are describing (often called pins and needles) is the result of a reduced blood flow. Your body weight basically cut off the circulation to some degree. I can’t tell you exactly why it is uncomfortable when it starts to move properly again. Maybe someone else can chime in on that.
A numbing agent dampens the nervous signals, but doesn’t mess with the circulation in the same way.
Edit: some good answers came in while I was typing, refer to those for a better explanation of the why
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