Shops I Support
My favorite exercise program, the one I've done the most. It does require additional equipment (pull up bar, dumbbells, bench, bands), but scaling & modifiers are offered/encouraged, depending on your fitness level.
DVD sets or streaming available on their site.
Bob Harper's workouts are not for the faint of heart. Most just require dumbbells, but can be done with only your body. Bob has several series, most of which you can find on eBay or Amazon these days: