I LOVE LOVE doing yoga. It just makes me feel better after doing it. I also do pilates.
I also do Namaste Yoga on Fit Tv. I always have the DVR set to record it. MTV Yoga is pretty good (you can find it in the store)
The yoga poses on Wii Fit are fun too (I agree, I got sick of the instructors too!)
Yoga has really helped with my flexibility. You just have to work at it