It can be amazing how great you can feel after a workout. I rarely do yoga because I am usually more concerned with getting my resistance training/cardio workouts into my schedule. I went to a yoga class recently and it reminded me how good yoga can make you feel. It is incredibly relaxing and also is great for flexibility and balance. Here is some additional info about health benefits of yoga if you are interested in learning more.
If you have never tried yoga before, don't be intimidated by all the unusual poses. Try starting out with a basic class taught by a certified instructor. As with any new exercise routine, check with your doctor before starting. This is especially true if you are pregnant or have neck/back or spine issues.