I started with Cathe's Basic Step & Body Fusion Dvd, it has a short upper, lower, weight section + abs (includes cardio step & circuit in one dvd), followed by Total Body Sculpting DVD ( Low Impact Step included on that), using her beginner rotation. (highly recommend for a beginner, overall rotation)
For strictly weights, the Pyramid Upper Body/Lower Body is a good one that can be modified to beginner/intermediate with weight selection, even using no weight or just one dumbbell if needed on some of the lower body. It goes fast and gives you a quick return on progress, you can grow with it, 3 sets endurance style format.