I pretty much hate yoga because it involves two of the things I find difficult and painful - holding uncomfortable positions for extended periods of time and trying to balance on one foot (it's just frustrating when everybody else can do it and you can't). I love motion, but I hate static stretching.

However, I have found a class at the Y that combines yoga, tai chi and Pilates with gentle music, and that has helped a little bit with the balance. However, it doesn't work as a mirroring exercise because there's too much time spent on one side before switching to the other. The only way I get any sense of transfer from one side to the other is with very short moves. So when it comes to standing on one foot with legs extended in various directions I'm still learning each side from scratch, separately.