Inclusion Criteria:  Ability to independently ambulate for at least 10 minutes continuously (with or without an assistive device) Ability to attend the yoga class for all or most of the 12 weeks A previous fall, near-fall or identified fear of falling  Exclusion Criteria:  No known contraindication for exercise (i.e. a medical doctor has told you not to exercise) A resent injury that causes pain during movement Current enrollment in another research study or class focused on balance