No more aches!
So I tried to do the full 20 minute set from memory after a hot shower (which I felt made me more flexible) and without the yoga mat out, bb was less inclined to disturb me. Although, the moment I sat down for the sitting down poses, she thought it was a signal for her to come to me and sit on my legs too ...
I think my balance is improving - i didn't fall over when doing this: (Extended hand to big toe Pose)
Utthita Hasta Padangustasana: http://www.yogajournal.com/poses/2473
Of course my extended leg is not straight, but still, try it, i'm sure you'll get what i mean when I say I can't really balance on the one leg when I do this.
I read this article about incidental yoga
I don't really get number 3, but the rest of the poses are definitely useful in daily life!