I recently tried a kundalini yoga dvd and liked it. It was pretty interesting, and provided me with a nice change.
I'm trying to make this exercise as nice as possible, so I don't grow to detest doing it every day.
I've been doing it in the morning, and will start with a relaxing soak in a hot bath (for my sore muscles) then I will get dressed, turn my music on, and roll out my mat.
I start with a few things to warm my body up further (marching, jogging, jumping-jacks, jump-rope) then move on to warm-up stretches (ankle, wrist, neck, hip, knee, and shoulder rolls).
I go through numerous stretches for my legs and back (which also target my mid-section). I do a little strength-building for my arms (tricep-dips, planks, ect), and, of course, yoga and pilates-inspired moves.
It all adds up pretty good, and I feel well-worked-out in my whole body.