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There's a good book out there I used.. years ago. 28 days through yoga or something. Hold on. Here it is. It works great and you'll be amazed at it's (instructor less) results. http://www.amazon.com/Richard-Hittlemans-Yoga-Exercise-Plan/dp/0911104216
I found an old copy of this book when one of my grandmothers died, and it's a great introduction to yoga.