Until I saw the article in the New York Times (Bonding with their downward facing humans), I never thought about dogs + yoga.
My Yoga practice has always been exceedingly private. Home alone, with a DVD, curtains drawn private. Of course, with Elka, you're never, in fact, alone, and this extends to yoga. There are even two books about dog yoga (sometimes called "Doga"), one I have read, and one I have not. The Barking Buddha, by Brenda Bryan, with Bev Sparks doing the photography, is the one I have read.