I would really like to improve my yoga discipline. 
I've never done yoga as an exercise practice. I tried to do it once to meditate, but it didn't help. Maybe I did it wrong.
It is a low impact exercise that has many other benefits as well.
I know that it is often used for therapeutic purposes. That is why I wanted to try it mostly.
I feel the benefit of it comes when you no longer have to think of the routine itself and you get lost in the rhythm. There are many different kinds of yoga, too.
Can you tell me about some different kinds? I know that yoga has roots in India, which is interesting to me.
Hatha Yoga is what people are most familiar with. It literally means "force" and is the physical technique that you generally think of.
Have you heard of iyengar yoga? I heard it moves at a more deliberate pace.