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I know a few people who felt Yoga sounded a bit "soft" [...]

"Sounded?" That word suggests that they have only read or heard about it, without actually trying it.

I wonder if they would consider the physical and mental development required to hold Mayurasana as soft?

http://en.wikipedia.org/wiki/Mayurasana

As I say, I know it isn't necessarily easy (perhaps gentle would be a better word), but that is a perception and for those people Pilates might be an alternative.

I am in a pretty good shape, working out and playing basketball multiple times per week. Still, the few times I tried yoga it literally kicked my ass. I've grown a lot of respect for those old ladies doing it.

I just want something that doesn't make me feel like a menopausal housewife.

While we're going with the stereotypes here, if you want to feel like a REAL MAN you need to LIFT, not pussy around with "yoga."

Sarcasm aside, lifting is far more effective than anything else for building strength.