Take a look at the
Intro to Yoga section, which talks about the different styles of yoga. For a beginner, I think a gentle class like Hatha Yoga would be good. Ask the intsructor about whether the class is ok for your injuries.
Here is the answer I gave in another yoga forum on this topic:
I would seek out a beginners class or a gentle yoga class. As for type of yoga, that is really your preferance. As you try out different styles and teachers, you will find something that seems appropriate to you. The same with finguring out how often to go. At first, you may only go here and there, or maybe you throw yourself headlong into a daily practice. In my experience, each student begins in his or her own way according to their availability, ability and preferance. But as a guidline, so you know what you're looking at when choosing a class:
vinyasa and ashtanga are flow-based, moving yoga classes. They vary in intensity, but focus on connecting movement to the breath.
Iyengar and Yin yoga, are more static in nature. Poses are held longer and refined. There may or may not be vinyasa included. Yin tends to be a bit gentler, and Iyengar will vary with the teacher, of course, but is highly interested in alignment and body awareness within the pose.
Anusara, an offshoot of Iyengar yoga, is alignment based, but will vary with the teacher and tends to involve more varied elements than Iyengar. Expect a "heart centered" approach and lots of backbends.
Other classes are less describable and will be influenced by the individual teacher. Any class labeled Hatha will fall under this category.
Restorative Yoga is calming and resting. Not focused on building flexibility per se, but rather evoking calm.
You've already gotten some excellent info from other members but I thought I'd add my two cents.
I would also suggest trying Kripalu yoga and/or Viniyoga. Kripalu is also very gentle with a focus on noticing what's happening in your body as you practice. Viniyoga is also quite wonderful as the focus is more therapeutic so the practice balances what's imbalanced, strengthens what's weak, and stabilizes what's unstable. I highly recommend Gary Kraftsow's new DVDs if you're looking for a home practice aid.
Yoga therapy is becoming more mainstream, so finding a therapeutic yoga class isn't as tough as it used to be. Practices that focuses on function (how the pose feels in your body and the desired affect you want the posture to have) rather than form (your pose looks "perfect") would be helpful for you.
I know that entering the world of yoga can be confusing and intimidating -- there are a lot of styles out there. It's a lot of trial and error. Don't be afraid to try something new. Just remember to go at your own pace and listen to YOUR body, not just the teacher. You know your body better than anyone, so don't lose sight of that wisdom (even if a teacher is telling you to do otherwise).
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