Do you know that in reality, yoga can be self learned? How? By focusing on the parts of your body which are in pain in your meditation. Instead of ignoring pain when you are in meditation, look at the pain and you will be guided by your true self to heal your body. You will find that your body will move after some time.
Allow your body to move according to what it wants. Don't be surprised if you start stretching on your own, even into positions you never knew you could do. Your inner self will work with your body to remove the pain.
And that is how yoga was founded. It is not like a Teacher decided on the movements. It was how the Great Teacher in meditation found various positions helped in healing.