When I first began yoga I wanted something I could easily do at home in addition to classes. Sara Ivanhoe's Basic Yoga workout for Dummies (found on Amazon) was perfect. There are two sections, one where she slowly explains & demonstrates 12 basic poses (you hold each pose for 6 breaths....no pretzels) & then a little more advanced flow where you only hold a pose for a few seconds & then move into the next (about a 20 min workout)
I suggest searching youtube, like Diana said, for "sun salutations". When you do probably 10 or so every day you already do a lot for a newbie. This way you also learn to get into the flow, you know?! When you feel familiar with the sun salutations you could either search youtube for longer sequences or get a book (sorry can't recommmend any, I'm from Germany), although I'd say get preferably a book this way you can learn new "moves" in your own time and re-read things as often as you need. If there are any free-trial- classes near you, I encourage you to take part in one, when you did a few sequences at home, only a teacher can correct you and answer all you questions. enjoy the journey :)
There is an Australian Yoga instructor called Charlotte Dodson who is the private instuctor for model Miranda Kerr and actors Teresa Palmer and Pheobe Tonkin, and she has recently opened a website for online classes. There are downloadable videos for various expieriance levels and live online classes which you sign up for. There is a cost involved but it's no where near the cost of yoga instruction from someonef of this calabre.