Yes. In fact I need to start again for those same reasons. Similar to LuluHB, I used to feel both relaxed and energised at the same time. I need grounding and yoga is one of the best ways for me to centre & ground myself. I prefer a gentle type yoga to something like Bikram yoga which I dont find as nurturing.

Give it a go and go easy with yourself. Yoga is about breathing and letting go. Others may seem fitter, more felxible or whatever when you first start but go at your own pace. It's about giving back to you.

Btw, I recommend doing yoga through a yoga studio rather than a gym.