For me I do 3 cardios a week. One day is interval cardio on the treadmill, or an interval step up DVD. Then another day, steady state step ups or floor workouts (usually a DVD) then an aerobic yoga on another day, where my heart rate goes up and my body gets a great stretch at the same time. It's not always that way, but that's what I prefer, sometimes life gets in the way. In between that I follow the STS series. This works well for me.
I use a VHS tape called "Aerobic Yoga" by Ganga White and Tracy Rich. It can be a very hard yoga practice, if you don't know how to stand on your head or do back bends (I don't), but I do modify all the way through those parts (a stability ball comes in handy). It is about an hour long, and will get your heart rate up there. The time fly's by. This is an old tape, but you just can't beat a great workout no matter how old it is. I believe it is between an intermediate and advanced practice.
Ganga and Tracy have other yoga tapes or DVD's that are close in nature to what I have, and that will also do, if you can't find that particular VHS tape.