Swami Rama, Himalayan Institute Press
If you are looking for non-intimidating yoga that will gently stretch you and relieve tension, this book is worth looking at.
Written by a great adept of yoga, the book is well illustrated with simple, easy-to-read text. The instructions are clear. The seated exercises chapter includes massage and movements for the face, eyes, mouth, and neck. Standing exercises are for shoulders, hands and wrists, abdomen and torso, and legs and feet. There are some basic floor positions as well.
Exercise for Joints and Glands is well-written for seniors, as well as those who are stiff and have a limited range of motion.
Mahasri Yoga 
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