The ICE series is definitely not as difficult as most of RWH, so you should make your decision based on how difficult you want the workouts to be. For example, there is a Plyo Hiit dvd in RWH that makes me cringe just thinking about because of all of the high impact moves.
In ICE, there is some impact, but it is fairly easy to modify down to a more intermediate level. Hope that helps.
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