For me, cardio routines in classes and at home are easy to follow as long as they are NOT dance routines. Endurance isn’t the issue, it is coordination and memory. You want me to know exactly where to put my feet when my feet are supposed to be at different places at different times? Whaaaa?
Like @mangeons said, kickboxing is a really fun, quick to learn at home aerobic exercise. The first few times it is hard to pick up the correct form while doing the exercises as fast as they want you to, but it gets easier. And once you learn the basics you can go to classes by different teachers or buy different DVDs to mix things up and still excel.
Sometimes videos that use weights and steps or other props can be easier to follow. I personally usually use light weights (less than 5 pounds) because I do not want to bulk up.