Yes, you can. I encourage students to practice at home, in the most familiar surroundings, i.e. while you watch TV. At the kitchen sink washing up. Whenever reasonable notice if you need to release tension, and then take to the floor. Find your feet, learn to map your toes. In our culture, toes lose their sensory intelligence. Good feet equal good health. Permitting yourself to be with yourself without distraction is a good start. But it is advisable to get to a yoga class or workshop to make sure you do things right.