You can adapt Zumba to make it easier--either at home or in a class. You could also try Zumba Gold. I was doing that at nearly 300 pounds, but didn't stick with it for long because it was too easy for me, so I quickly switched to regular Zumba.
Nia sounds interesting, but it only seems to be offered in fairly large cities. It is a yoga and ballet influenced dance workout. I'm not sure if there are videos.
There is a ballet-influenced workout called Xtend Barre. Again, I don't know about videos.
I wonder if there are belly dance or Ballywood dance programs out there.
You could also take an authentic dance class--those tend to be slower and have less impact. If you like Latin dance, take a standard salsa class, Cuban (casino) salsa or a merengue course.
Dances: salsa (standard/LA), casino, rueda de casino, cumbia Colombiana, bachata, mambo, cha-cha-chá, merengue, reggaetón.
Currently learning: Mexican cumbia, danzón, Cuban rumba
Dances to Learn in the future: flamenco, tango Argentino, samba, belly dancing, bhangra, ballroom rumba
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