When we humans are in a great physical pain, since it is intolerable, we twist our body from this side to that side, or bend downward, pull our thighs toward our stomach (?), and cannot stay in a still position.

I want to decsribe a person who is suffering a sharp pain due to renal stone. But I don't know which verb or expression should be used that describes a person in that position. I have found "squirm", does it convey all those restless movements and reactions due to a severe pain?

"After the car accident, there was a man who was squirming out of pain and no one could help him."