there is a 10 minute Pilates for beginners workout video on Spark. I liked it so much, I bought the DVD from Acacia. There are two 20 minute and two 10 minute workouts on the DVD. You select the ones you want to do from the opening menu, so you can customize your workout. Great DVD! I bought one for a friend too, and she loves it.
I also have a Pilates with workout circle set (Dina Matty) that I love.
I've tried several others over the years, but these 2 are my favorites.