I am a FTM and I felt my baby move at 16 weeks :)
Not big moves but super cute
If the doc says it's normal then it's all good. It all depends on where your placenta is placed. Mine with my son was right in the front of my belly so it would soften all the blows and I didn't feel anything until well over 20 weeks.
With my daughter it was opposite. My placenta was along my back and I started feeling her kicks at 15 weeks I think.