Search “30 days of yoga” on YouTube. It will take you from complete novice to well into the beginner level. Kind of like a “couch to 5K” for Yoga. You can do it in your living room in front of the TV. It’s OK to repeat days until you feel comfortable. 

I go through the program several times a year and I’m well into my 50s. I can touch my toes on demand :-)