Most yoga studios have some sort of beginner level type class (at least pre-Covid - not sure if they are back to full schedules yet). I would start by looking up studios in your area and just calling to ask. I have been on and off over the years in multiple cities and never felt out of place. They generally provide modifications to help you build up to poses you aren’t yet ready for. Also there is usually someone else in a similar place in their journey so you’re not alone.

At home is also an option but I would keep in mind that a studio with an instructor or a private lesson can give you more real time feedback and help identify areas of focus. In both yoga and traditional strength training it can be easy to fall into poor form and possibly injure yourself especially if you are new to it or try to progress too quickly.