The myriad benefits of yoga – including lower blood pressure, increased strength and bone density and reduced anxiety – should be enough to get anyone on the mat. However, as a yoga teacher I meet many people who hesitate to embrace this ancient form of fitness due to some pervasive myths. Yoga is too slow and boring; it's practised in stuffy, incense-filled rooms – or in 90C heat; it's just for girls and people who are into chanting. And – most misguided of all – yoga is only for the flexible.

The truth is that there is a class to suit you whatever your body type or temperament. Yoga develops strength and balance as well as flexibility – the latter is a consequence of practising yoga, not a prerequisite. No one has turned up to their first yoga class (unless they were a dancer or a gymnast) able to execute advanced yoga poses.

All yoga styles create a feeling of lightness, ease and relaxation. But to get the most benefit and the most enjoyment, you need to find a yoga style and a teacher that suits you. For example, if you're already doing lots of strength training your best choice is likely to be a yoga style that focuses more on flexibility. That way, you can balance your fitness routine. Perhaps try yin or hatha yoga. Those who have an injury or live with a chronic medical condition such as arthritis might want to try Iyengar yoga, or one-to-one sessions with a teacher where you will be able to focus on alignment and your unique needs. If you are drawn to experience the spiritual side, you could try jivamukti. And for those who are relatively healthy and want a challenge, ashtanga vinyasa or vinyasa flow might be a good choice.

Before you make a decision, try a few of the most common styles of yoga that you might see on a yoga studio (or gym) timetable. Some classes – marked general or open level – are suitable for all. This is how I started my yoga journey – by watching and copying. When you think you've settled on a style of yoga you enjoy, try a few different teachers. All teachers have their own unique focus based on their personalities, their own yoga practice and where and with whom they've trained.

Yoga can be expensive, especially in the larger cities. The most cost-effective way is to take advantage of studio offers. Newcomers can sign up for deals such as £20 for 14 consecutive days of classes. Aim to go to a class every few days – later, you can consider committing to a course. Regular attendance is needed to really reap the benefits. A good teacher will not do his or her own practice at the front of the room. They should be roaming around adjusting, correcting and giving alternatives to people who cannot do the full pose or have an injury. They should be helping you to focus on what you can do, rather than what you can't. A good teacher won't expect you to be anything other than a beginner and they want you to have – and enjoy – a beginner's experience.

A guide to the most common yoga styles

Iyengar yoga

Iyengar and ashtanga yoga come from the same lineage – the teachers who developed these styles (BKS Iyengar and the late Pattabhi Jois) were both taught by Tirumalai Krishnamacharya. Many of the asanas (postures) are the same, but the approach is different. Iyengar yoga is great for learning the subtleties of correct alignment. Props – belts, blocks and pillow-like bolsters – help beginners get into poses with correct alignment, even when they're new to them, injured or simply stiff. Anusara yoga is a more modern form of Iyengar.

Ashtanga yoga

Ashtanga is a more vigorous style of yoga. It offers a series of poses, each held for only five breaths and punctuated by a half sun salutation to keep up the pace. You can either attend a regular class or the more traditional Mysore style (see below).

Mysore style

Ashtanga yoga taught one-to-one in a group setting. Students turn up at any time within a three-hour window to do their own practice as taught by their teacher. This is my preferred style of learning yoga and, I think, the safest and most traditional. You go at your own pace, on your own breath.

Vinyasa flow

Teachers lead classes that flow from one pose to the next without stopping to talk about the finer points of each pose. That way, students come away with a good workout as well as a yoga experience. If you're new to yoga, it is a good idea to take a few classes in a slower style of yoga first to get a feel for the poses. Vinyasa flow is really an umbrella term for many other styles. Some studios call it flow yoga, flow-style yoga, dynamic yoga or vinyasa flow. It is influenced by ashtanga yoga.

Bikram yoga

Bikram yoga is the favourite of anyone who loves to sweat. It was created by Indian yogi Bikram Choudhury in the early 1970s. He designed a sequence of 26 yoga poses to stretch and strengthen the muscles as well as compress and "rinse" the organs of the body. The poses are done in a heated room to facilitate the release of toxins. Every bikram class you go to, anywhere in the world, follows the same sequence of 26 poses.

Kundalini yoga

Kundalini yoga was designed to awaken energy in the spine. Kundalini yoga classes include meditation, breathing techniques such as alternate nostril breathing, and chanting, as well as yoga postures.

Hatha yoga

Hatha yoga really just means the physical practice of yoga (asanas as opposed to, say, chanting). Hatha yoga now commonly refers to a class that is not so flowing and bypasses the various traditions of yoga to focus on the asanas that are common to all. It is often a gentle yoga class.

Yin yoga

Yin yoga comes from the Taoist tradition and focuses on passive, seated postures that target the connective tissues in the hips, pelvis and lower spine. Poses are held for anywhere between one and 10 minutes. The aim is to increase flexibility and encourage a feeling of release and letting go. It is a wonderful way to learn the basics of meditation and stilling the mind. As such, it is ideal for athletic types who need to release tension in overworked joints, and it is also good for those who need to relax.

Restorative yoga

Restorative yoga is all about healing the mind and body through simple poses often held for as long as 20 minutes, with the help of props such as bolsters, pillows and straps. It is similar to yin yoga, but with less emphasis on flexibility and more on relaxing.

Jivamukti yoga

Founded in 1984 by David Life and Sharon Gannon, Jivamukti means "liberation while living". This is a vinyasa-style practice with themed classes, often including chanting, music and scripture readings. Jivamukti teachers encourage students to apply yogic philosophy to their daily life.

• Geraldine Beirne is a yoga teacher based in London, yogawithgeraldine.com.