Check your local library for DVDs of both Tai Chi and yoga. There are also some workout videos on SP that might help.
A few simple exercises to try would be: walking backwards, balancing on one leg (try to work up to 90 seconds, gradually), squats, getting up from a chair without using your arms.
Good luck - you're smart to focus on balance, as it's an overlooked issue for so many of us and absolutely critical.
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