I say all this with the caveat that it is important to find a good instructor. I know there are some good products on the market for developing a home practice but I think it's better to start at a studio with an experienced teacher. It is easy to hurt yourself and many of the poses are deceptively complicated.
+1

It took me years to appreciate and benefit from yoga, and part of the problem was a DIY approach. When I finally committed to series of classes, twice a week for 6 weeks for true beginners at a very reputable studio in town, I finally started to understand better what was "correct" and what was "incorrect" as far as moving in and out of asanas/poses. Once you really feel this in your body under the guidance of a good teacher, your chances for injury go way down, imo. And the benefits also increase. I credit yoga with saving my back, which for a 3 year period, went "out" drastically, repeatedly. I haven't had any significant back issues since committing to yoga, and I can again ride for long periods without serious pain. I have both scoliosis and arthritis in my back/neck, so this is a big deal for me.