I've been doing ante-natal yoga since I was 12 weeks - I'm 20 now, and its been really great! I never really did yoga before and I'm finding all the breathing and focusing stuff the most helpful for labour prep. My mum comes with me so we do it together at home grin
Maybe you could ask your instructor to write down the exercises for you to do at home so you can check you're doing it right, or get a friend to come along and then you can practice together?
I can't help with kicks! I'm in the same boat