Gastrulation occurs after 3 weeks of fertilization, forming the three germ layers - ectoderm, endoderm, and mesoderm. During the first week, membranes form to protect and nourish the embryo, including the amnion, yolk sac, chorion, and allantois. From weeks 12-23, the fetus grows to 25 cm and 0.5 kg, developing features like eyebrows and eyelashes. The heartbeat can be heard and the mother can feel movement. Later, the fetus assumes a fetal position and the sex is apparent as bones and other organs develop.