I am almost in the same situation. But to step in you CANNOT get prenatal care at planned parenthood, all they can do is gyno stuff and test you for pregnancy. Trust me I've asked. You can however get on medicaid if your insurance wont cover it, and go to a OBGYN. There are alot of offices that accept it.
You are probly afraid of the same thing I am, the stares and the listening we're going to have to endure about how much of a mistake we are about to make and how much money its going to cost. I don't know how it happens but there always seems to be a way to make it.