Pilates Method during pregnancy can improve mental health, well-being perception, and physical condition in healthy pregnant women. This study conducted a preference-based randomized clinical trial with 108 participants to evaluate the implementation of Pilates Method sessions within Primary Care. Group sessions, held twice weekly over twelve weeks, included strength, flexibility, postural control, breathing, and relaxation exercises. Results showed significant improvements in mental health and a positive trend in general health in the experimental group compared to the control. The intervention also enhanced social interaction, support network creation, and adherence to healthy habits, reinforcing primary prevention and overall well-being. These findings support incorporating Pilates Method as a complementary tool in prenatal care, promoting a holistic approach that combines physical, psychological, and social benefits.