Kindle has this app called My Yoga Studio. It's about $1.99 and gives you three basic routines ranging from 5 minutes to 10 minutes. The best part though, is you can design your own routine from about 20 different positions for as long as you want. It's really nice when I'm at work and I need something to do on a midnight (most nights I'm the only staff on in various assisted living homes).
Kindle also has anytime abs and anytime legs. Both are $1.99 each and they're good for a quick workout on the go. You can't really choose your own routine with those though which is why I like my yoga app the best.
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