Mild workouts but more than just walking

I used to go to the gym and mostly focus on my mid section and cardio, I wasn't doing it very long or consistent , but I haven't worked out since a week before I found out I was pregnant again, but I'm super ready to get back in before it's too late , does anyone have any workouts I guess focused on arms, butt  and legs that isn't going to be strenuous on my body? I won't see my midwives until July 12th so I can't ask them yet . Any tips ??