How do you get to sleep when you have things going through your mind?

I have not had a proper nights sleep in about two years. I have tried everything from over the counter sleeping pills to warm milk and have recently started listening to sleep relaxation and whispering videos on youtube. My sleep pattern is so messed up. I have not been to sleep before 3 am in a long time and it just feels like my day is ruined before it even begins because im always tired. I lie in bed thinking about the day thats went, the day thats coming, things I have to do, things that people said. My brain will not shut up. When it gets past 3 I worry about not getting to sleep at all. Whats wrong with me?The one thing that works is prescription sleeping pills I get from the doctor. They knock me out for the entire night and leave me feeling full of energy and life in the morning.Is there any other way to make yourself sleep?