Are you looking for a home program or classes at a studio?
I personally like Anusara, Bikram, and Iyengar.
With the Bikram stuff, whether or not you do it in a 100+ degree room, if you go to a couple of classes to familiarize yourself with it, then you can get an audio CD to follow along at home. Bikram's basic class never changes, so that may suit you fine. I like a little more variety, but I can handle it 1-2 time a week. I found the CDs for $10 on Craigslist.
Yoga for Regular Guys/Gals (YRG) has a pretty good reputation for giving the benefits of yoga without all the woo-woo that some people don't like.