Yoga My-Way?

I am now into the fourth month of my daily yoga routine. I have missed a few days when I have had to leave home early but for the most part I have been pretty regular in my practice. I find the mornings best-when the house is quiet. I usually have one of our two dogs in close proximity as I work through my established routine. Self taught, I try to be mindful of the positions and how I am performing them. I also try to pay attention to my breathing and how my body is reacting. I find the "inverted" positions the most benefical. "Downward dog" and the "Hare" come to mind. I think the additional flow to the brain helps out my energy levels and keeps my breathing passages clear. Over the months I can feel my strength and flexibility improving. I realize as a man in my 50's I am not going to become "buff" but I certainly have noticed a change in my upper body strength and my ability to hold poses longer! I also find the mental/spiritual space that yoga forms also very benefical to my somewhat chaotic life. I just let the thoughts run through my head and out the other side. A few insights have resulted which are very much appreciated. I have "toyed" with the idea of attending classes and I think this will soon become a reality. I live in a smaller city but there are at least 3 or 4 places to practice. I have also thought...but not put into action the idea of training as a yoga instructor? Huge commitment but potentially a good opportunity for body, mind, spirit and service.