Prenatal yoga: does it help?

Ellen • Proud first time mama! My beautiful daughter, Roxie Marie, was born on April 23rd, 2016. I love my baby girl. :)
I've had back pain, wrist pain, leg cramps, & the oh so wonderful pelvic pain & pressure. I know it's all completely normal, but I've heard prenatal yoga can actually prevent you from having as much pain. Have any mommas done this & noticed any difference? I'm 23w2d, ftm. :)