Assuming you're in the US, that depends on what kind of care if you want.
If you're looking for low intervention, aiming to try for a natural birth, don't want extra testing, are willing to go overdue, don't want a million ultrasounds, don't believe pregnancy is really much different than being...not pregnant (in regards to what you can do) than a midwife is likely a best fit.
Otherwise, a doctor if you want drugs handed to you at labor, want lots of possible interventions during the pregnancy, etc.
I use a midwife.
(I dont mean doctors are "bad", there are lots of wonderful doctors and Im sure crappy midwives but in my experience the midwives are much more laid back, go with the flow, everything will work out, etc as opposed to worrying and testing over ever little thing in pregnancy like the doctors at the practice).