20weeks and exercise...

Hello. Yesterday was my 20w appointment and I forgot to ask my OB. I havent done any exercise during my pregnancy due to being pretty sick my entire first trimester. I'm now feeling better and let's be honest bored out of my mind during this stay home order 🤦🏻 I'd like to start working out at home. I'm considered over weight and would like to keep my weight gain down this pregnancy. Is it safe for me to start working out this late into my pregnancy? Nothing strenuous but maybe a you tube video daily on top of walking?