I like Leslie Sansones' WALK AWAY THE POUNDS series for those very same reasons!
I am large and have never been (even when I was thin) very coordinated. Her movements are easy to do and very effective for toning and weight loss. Plus her videos show a variety of body shapes, ages and abilities. She even has one person modify for people who are having trouble keeping up.
I know what you mean though. I thought I would take a yoga class at the rec center. Ha! Ha! Ha!
My body just doesn't do those things
