You are right. Jesus almost certainly didn't get his disciples to kneel at the Last Supper. All this kneeling and genuflecting and such is a relic of the old days of feudalism and absolute monarchs. Time to get rid of it.
In the great mediaeval cathedrals of Europe there are no kneelers (St Vitus in Prague doesn't count as it wasn't completed until 1929). Indeed in many there are not even pews.