People say it's bad sleeping habits, I say it's something more than that...

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It's almost really annoying too. I can stay up to 6 and finally fall asleep. The thing is, I just lay in bed... wanting to go to sleep. I LOVE TO SLEEP. But my huge problem is actually "getting" to sleep. Once I am asleep, I stay asleep and usually I sleep well. It's been getting worse throughout the years. The only time I can get to sleep is when I'm nearly about to pass out. I don't think that I am Insomnia like most people do, but I think I have a smaller case of it. So my mom has the same problem, but she is prescribed to Ambien. And I've taken it too. It really works and I wake up before noon instead of a the 2-3PM waking hours. Like, I know when I should go to bed and I've tried to lay there with my eyes closed, trying to not think about anything but sleep and I still can't sleep. Once I do get to sleep, I sleep till I get 9-10 hours of rest... and then people tell me it's bad habits. I think it's more and it drives me nut. I'd do anything to be able to sleep at 11-12 at night and wake up about a good hour. I can't afford to go to a doc. I'm not insured. AND I feel weird taking someone's meds, especially from my mom. She needs them obviously and they aren't supposed to be for me to begin with. You think I have bad sleeping habits OR do you think if I went to doctor that they would give me something to help me rest? Is it all in my head or is this really a big problem?