I started lifting with a video by Joyce Vedral (you can easily find her website through a search) - I got the Fat Burning workout, but she has quite a few. All you need are 3 sets of dumbbells - a bench is nice but not a requirement. I found it a great way to get started -- Volume 1 is two short workouts, upper and lower body, each about 25 minutes long. After doing it for just a short while, I found I was encouraged to do more ...
I imagine that there are plenty more videos (like the one mentioned above) that would do just the same, though it probably would be best to make sure it's for beginners. Vedral is a bit kooky, I suppose, but I think she's a hoot. Even if you don't want to buy her video, check out her website for her story.