If you want just cardio and like step, I would suggest Low Max. First time I did it, I thought this is going to be a cake walk. I couldn't have been more wrong!
If you want circuit training, I would say Low Impact Circuit. Again, I thought it wouldn't be that bad but it is a really good calorie burner. Another one might be Cardio & Weights. I don't remember it being too high impact and any jumping could be made low impact easily.
Hope that helped!