Workout during pregnancy

I would like to start mildly working out but my body is not used to it because I didn’t before pregnancy. I am 22 weeks now and doing well. I don’t want to overdo it because I have a history of pre eclampsia but my doctor said mildly working out can help. She did not give me recommendations necessarily but told me just to be active and not over do it. I would like to start working out 2-3 times a week just to stay active and get my body/heart used to it. So what are y’all’s recommendations? I like yoga and would like to walk everyday but there’s really no place that’s safe around here to walk with my toddler. Just looking for suggestions of maybe YouTube videos or an app I can download and follow along?