You are just ahead of me in your pregnancy. I am 20.5 weeks now and I am feeling regular movements now. The kicks aren't strong enough to be felt from the outside yet... my husband puts his hand on my belly hoping to feel something, but nothing yet.
As for encouraging baby to move I have found if you lie down for roughly 10 minutes and stay fairly still baby will move. When you walk, talk and move around it can be very rhythmic for baby and they go to sleep. When you are still and trying to rest baby wakes and becomes active... sometimes
As long as you are feeling movements you have nothing to worry about. Relax and enjoy your pregnancy and rest whenever you can.
Only 19 weeks to go... if you go to term.
Thinking of you,