Today I went to my last Friday yoga class until the next session begins, and my yoga studio seems to have a tradition that the last class is restorative.  OMG, what a treat.  In restorative yoga you use gravity rather than muscles for poses.  This means that you fold up blankets in all kinds of ways and then let the blankets hold you up while you drop over them and let gravity pull you down.  The poses are all super comfortable -- you just want to go to sleep, and when you come out of them, you've stretched the parts that were dropping.  The big thing (well, besides breathing) is that you don't try...you just are.   I found two pics on Google images that show a few things we did:  the top one is "legs up the wall" -- just put your butt against the wall and throw your legs up.  The second one is child's pose on top of blankets -- I used more blankets than this and it was like being a baby in a crib again.  

I'm so lucky to be able to do these things -- every day I just have to pinch myself...