I used to go to the gym regularly and lift weights but I had a bad car accident 4 years ago that limited what I could do with my neck and back injuries. At that time I was looking for something less strenuous and I started Yoga. I have been practicing it for years now and I love it! I did the same thing, just picked up a video one day. Now I have many different routines I do. They say you're supposed to work out in the morning but I always do my routine after work at night. It's the perfect stress reliever for me. I feel so good at the end and half of the time I end up falling asleep in my final 'corpse pose' because I get so relaxed. I also love the all over stretch I get. Also it is so hard for me to quiet my mind and practicing Yoga really helps me with that. I did try Pilate's but I can't do some of the moves because of my hip.
I also have some jobs on the side pet-sitting for some people. With one of the dogs I go to their house four times a day and take him out for a 30 to 45 minute walk each time I go. I count that as exercise too

I also love to take late night walks alone with my music. I get a good pace going and usually walk for an hour or more.