You're correct, natural Regeneration through Constitution starts at 20 CON. It's quite slow, however--something like 1 hitpoint every 10 rounds. This is quite good in BG1 (I personally love using Kagain due to his ability to regenerate back to full health every time we Rest or travel between map areas), but becomes quite obsolete in BG2, when there are other, much faster, means of Regeneration available.
A CON higher than 20 means you Regenerate faster, but it's still nothing to write home about.
Regeneration rates do not stack. Slow Regen + Fast Regen = Fast Regen.
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Volothamp's Comeuppance
Everything you ever needed to know about the entire Baldur's Gate series......except spoilers.
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