You're wise to keep a budget in mind when there are so many expenses that 'add up' for health care. Having practiced yoga off-and-on for many years, after initially receiving group instruction, I do appreciate knowing the basics well enough to practice for free at home. I use YouTube.com as my go-to source for free, self-directed learning on many topics that support body, mind, and soul. Also, PBS.org offers TV programs on yoga for beginners; check your local TV schedule. Larger metropolitan cities offer free groups for yoga, tai chi and meditation via Meetup.com. I hope this is helpful! Much success!