I highly recommend the 10 Minute Solution Pilates DVD. I did it for the first time today and I really enjoyed it a lot! There are 5 different 10 min segments so you can do them all continuously or pick/choose. Its perfect because I SAH with my little one and can sneak in a few during naptime! I was also surprised at how my legs were burning during some segments. It does require 1-3lb dumbells, but other than that, it's a fun at home workout!
P.S. I know I'm new here and a little early to the board, so - hello second tri