I just bought one on Amazon that I like so far. It's called 10 Minute Solutions Prenatal Pilates. I don't know if you are looking specifically for yoga. This one is cool because it's 5 10 minute workouts so you can do one or all or some.. etc.. I like it so far!
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I like the Gaiam prenatal yoga set, every session changes as you progess into your pregnancy,from the first to the last trimester. Just do as much as you can and thats it, you don't really have to do the whole session.
Re: prenatal yoga dvd