There are a lot of yoga resources for free online. Youtube and hulu have full length guided sessions that are good places to start. There are also many websites with resources for more information on specific yoga poses and more about other aspects in yoga practice.

I love yoga -- It helps my vanilla life by helping me deal with stress/anxiety, sleep better, feel better. And it's also helped me in bed. More flexibility is awesome, but it's also taught me how to hold uncomfortable poses. Breathing and focusing your mind are amazing tools!