First find yourself a good class lead by an excellent teacher that focuses on flexibility.
You might even think of hiring a personal trainer and explaining to him/her what your personal fitness goals are. In this way s/he will be able to design a program with your goals in mind.
Considering that you have limitations with your flexibility you might want to approach things by increasing your flexibility and than moving on to yoga.
I hope this is of help to you.
First, there is no such thing as perfect.
Second, and more importantly, yoga is a personal activity. You do what you can the best you can. Please do not force a move; rather, do what you are able and you will start to see improvement.
Enjoy the moves your body lets you do.
Like Susan says, start out with the beginner class with a trained yoga instructor.
The best way to start yoga practice – first to practice it on Gym Ball.You may do it at home or in the club.Start with basic Beginner’s exercises, like Basic Bridge /lay on exercise mat with your arms in relaxed position by your side, place feet on the ball so that the ball is just resting under the lower legs/
Or another exercise – Reverse Bridge /lay with the ball under your shoulders and your feet flat on the floor shoulder with apart/
This activity, Gabriel, call Core Stability.Than gradually include some stretch – Hamstring stretch /Sit on the ball with your legs outstretched in front, shoulder width apart.Flexing from the hip, slowly reach forward untill you, Gabriel, feel a stretch in the back of your thigh/
Only than very carefully try to practice Adductor Stretch /Sit on the ball with your feet shoulder width apart.Keeping your spine straight,stretch one leg out to the side until you can feel a pull on the inside of the thigh./
When you will be familiar with this basic movement, it is be easy to do more difficult Yoga poses in club.
With regards, Miroslava,