Pilates

Has anyone ever done pilates? Well I tried it for the 2nd time on Sunday. I popped my dvd in and ventured out to try the 20 minute workout. It being Sunday morning, 20 minutes was all I had. First of all, I don't see how anyone who isn't already in shape could do these moves. M. Windsor had me putting my feet over my head. I can't even get my feet to be perpendicular to the ground. So that move was out. The one where you sit with your feet together, tap 3 times, roll back and tap 3 times was impossible, I could never get back to the sitting position.
I was so relieved when the 20 minutes were over. Needless to say, my abs are sore and so is are the muscles in my back. So even if I didn't do all the moves correctly, I did get some benefit out of it. Right? If the soreness doesn't go away in my neck and back area, then that means I screwed up something along the way, and that wouldn't be good.