I just got Andrea Spier's Perfect Pilates Body from my Secret Santa and I really like it. Short segments (10 minutes each) All I have done so far are good. Warmup, Core, Butt, Legs, Arms, and Total Body. The only one I have not tried is the stretch one.
I haven't done it in awhile but I used to like the 10 minute solution one that uses the small pink ball someone else mentioned above.
I started to add Pilates to my routine a few weeks ago. Unfortunately I pulled a muscle in my lower back from moving my stuff at work and I am afraid to do anything that might aggravate it. I know Pilates is supposed to be good for that sort of thing but I feel like rest is what I need right now. Will start the Pilates again when things calm down.
ETA: I also like the 10 minute solution Pilates on the Ball with Lara Hudson I think. It is done with a large swiss ball. I haven't done that one in awhile though.
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