Yoga is very good, it's the only workout I do with my wife besides the bed workout.
I have been lately doing the Seane Corne workouts (Vinyasa Flow & Detox Flow), I did try the TrueAIM Yoga (Bow) and it was quite challenging. There is a dvd i recommend called "Yoga Shakti "that allows you to create your own sequence based on your flexibility, it is really good for beginners.