In my own personal non-professional opinion (
do you still want it?) I would consider the rest day more important for extra weight bearing exercise. If you are doing a pilates style exercise, I wouldn't worry about it as much as if you are using barbells and dumbbells. The rest period is so your muscle can repair and become stronger. If you don't feel it the next day at all, then you may not have done enough to warrant a rest period.
I'm not familiar with your program, or maybe I could help more. I do know that Push TV had a body weight program that was a replacement for weight lifting. That one I did use a rest period for. When I did Kathy Smith Pilates (gentler than Push TV), I did that in between upper and lower body days.