24 weeks pregnant and weight gain

I am 24 weeks and so far I have gained 21 lbs. my prepregnancy weight was 189lbs and now I am up to 210. I am really worried since I am already on heavy side. I do not eat sugars. I only use skim milk. I eat healthy I walk and also perform all my household chores. Yet I am still gaining weight. I am worried if I will be able to give birth vaginally and if I will be able to lose all the weight I gained postpartum. I am really getting depressed with this.