I enjoy yoga, with the benefit of knowing that while doing so, I will not hurt myself.
I have learned, that with the proper breathing technique while stretching, my muscles are allowed to expend more and become more relaxed.
At the same time, if I feel the burn of the exercise, I slowly back out of it until I am comfortable enough to re-enter the pose.
If anything, yoga has relieved many of my aches and pains.