Chiropractic was one of the best things I did for myself during pregnancy. The adjustments are very gentle, the equipment specialized for your growing belly. Despite years of chronic back pain, I had NO back pain during my pregnancy (that changed once I went into labor!).
I've experienced many people that feel the same as you. Chiropractic has changed A LOT over the years and I think you will be pleasantly surprised. The key is to find someone that will answer your questions and give you some time to get used to the idea. Be sure that you express your fears and concerns.
I used Cindy Tovar down in Webster--I can't remember the name of her practice off the top of my head. You'll like her.