I own a number of Zumba DVD programmes, Zumba Total Body Transformation System, Zumba Exhilarate and Zumba Incredible Results, which includes the Zumba Riser (I don't have the riser so I use a mini step). I have never attended a live Zumba class but years ago I used to do Ballroom and Latin American dancing.
I really like the Incredible Results DVDs especially the Step routines, these are like dancing step aerobics. There is also a really good abs routine using a chair. The Transformation System DVDs are pretty good too. Not so keen on Exhilarate, mainly due to the lighting used. I find I need to do the routines 3 or 4 times before I learn all the moves but once you learn the moves you can put more into the dance.
I use these on my cardio workout days and work up a good sweat. They have modifiers if you can't do all the high impact moves.