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I've been doing yoga for eight years.  I'm 59, and just got slammed with Lyme arthritis or seronegative RA (depending on which doc you talk to) in March.  At first I stopped going to class and stopped home yoga practice.  Then I realized what a mistake it was.  I know enough now to adjust my routines to my needs, although it took me a little while to understand my new limits - where I could push a little, and where I couldn't.   I'd suggest finding a class, particularly in Iyengar yoga if you have an Iyengar studio near you.  I'm taking a class called Ageless Yoga, where pretty much everyone is over 50 and has some kind of physical issues.  So the teacher might give the class a pose to do, but if one of us can't do it she tailors the pose differently or recommends an alternative.   Iyengar yoga is just one of several branches in the yoga tradition.  It's predominately focused on alignment. This means that your teacher helps you get in the position that is healthiest for your body.  Some forms of yoga are focused on flow, or heat, and I don't recommend them if you are stiff in any way.  I've been stiff all my life, and am just much more so now, and I find that if we are moving quickly from one pose to another I can't keep up and am likely to hurt myself.   There's a new book out called Yoga for Arthritis, but I haven't used it enough to know how helpful it is.  Another wonderful book is Recovery Yoga, by Sam Dworkis.  But I'd suggest finding a teacher before working from a book or video.   I have a home yoga practice blog, but I'm new to the site and don't know if it's OK to post the URL.  I'll post this (way too long, sorry!) now, and then check into it.