I have several videos and books that I use to create a routine when I practice. Rodney Yee is by far my favorite instructor, and a great video to start with is his Yoga for Beginners.
Personally I am not the most coordinated so my #1 criteria for a good work out video is that is is easy to follow. What I enjoy about Rodney Yee is that not only is he easy to follow, but he generally uses minimal voice instruction so you can really relax and focus on your form rather then be distracted by too much direction.
I have found that it takes several times to master a yoga video, and I like to work with a single video until it starts to get mundane before moving to the next one. I have not perfected every move, but I have enough experience now that when something is out of my range I am able to use a substitute move in its place.
If you are looking for something more in depth Rodney Yee has a great 8 week program in his book Moving Toward Balance. I have worked with the poses in this book both on my own, as well as with my husband. It is the perfect set of routines for bedtime yoga.