Pilates. You wanna feel pushed, do Pilates. I swear I've never hurt as much or felt so good after - at the same time.
The Stott Pilates DVDs are the ones my instructor swears by. I have one of them at home - the mat fitness one and it ties in really well with what we do at the class at the gym - but they have tons of different ones in the series.
Also, not a DVD, but I really recommend picking up a copy of either Body for Life or New Rules of Lifting for Women. There are tons of workouts in both books that can be adapted for home/non-gym use. I love the results I get when I really stick to the New Rules program. They're short workouts (at least at first) but really really really effective.
And really just a lot of bodyweight and resistance stuff works really well. Squats, lunges, stepups, situps, pushups, tricep dips - all those things that you can do at home will make a huge difference all over.