I've tried several classes with at least 5 different instructors.
They all have their own unique way of teaching the class, so it may take awhile to find which instructor and which class fit your needs, but when you do, practicing in a class with the right teacher is awesome.
I'm a beginner (I haven't worked out in years and am quite stiff) but I could keep up for the most part and teachers are very supportive of pushing your body to it's own limits, not trying to compete with others in the class which is very helpful.
I feel better, mentally, emotionally and physically after each and every single class. Give it a try!