Export for Kindle formatting or Indesign formatting

Here’s the issue:

-I’m new to InDesign, XML, formatting, and all of that stuff.

-I have a copy of Indesign CS6.

-I have a subscription to Lynda.com learning such programs.

-I have my finished manuscript that I want to sell on Amazon KDP.

-What is the best way to get a nice formatted version of my manuscript on Amazon? I want it to look like a proper e-book with Table of Contents, stylized chapter headings and all of that.

-Do I export my manuscript from Scrivener to InDesign? If that’s the case, what’s the best way to do that. I’m no proficient in InDesign by any stretch, but if this is the case, I’ll learn (or attempt to learn).

-I know Scrivener can export directly to mobi, but that’s not how I want my book to look. Would it better to use the KindleGen program to format my manuscript?

Thanks

Any help is greatly appreciated