I workout almost exclusively to DVDs. Have you looked into P90X3? P90X is a great program, but you will spend at least an hour each day working out (precious time that's hard to come by if you don't have help!). I'm loving P90X3, as the workouts are only 30 minutes, yet I feel really worked once I'm done. Plus, I appreciate the variety that I felt was somewhat lacking in P90X.
I didn't like Insanity at all. Too repetitive for my tastes.