Abstract: A body support pillow having a semi-toroidal head support section (12), a substantially straight tubular back support section (14), and a semi-toroidal leg support section (16). To enhance range of motion, the head support section (12) terminates distally in a flared end (18), while the leg support section terminates distally in a tapered end (20). The proximate ends of the head support section (12) and the leg support section (16) are joined to the back support section (14) in an opposing manner to form an S-shaped pillow overall. Made of resilient and pliable material, the invention provides for direct, simultaneous, integrated, and flexible support of the head, back, legs, and feet of a side-lying individual, while allowing the ventral portion of the body to remain unobstructed. Hence the S-shaped body support pillow can be used to provide less stressful positions for anatomical members, contributing thereby to quality rest and sleep.