After a time I had the chance to take some Tai chi classes and later ran across this book with simple exercises in it:
This book is available here: Step by Step Tai Chi from Amazon.com.
What I like about it best are the 18 fundamental exercises in the beginning of the book. Doing 6 reps of each exercise takes me less than 15 minutes a day and makes me feel much more comfortable in all my joints and my back. After doing the exercises for a couple of months I noticed a real improvement in my flexibility. Whenever, I loose the habit of doing the daily Tai Chi fundamental exercises I notice I have more joint stiffness in days and I loose flexibility in weeks.
I'm not certain I'll ever actually practice Tai Chi in the way others do, but I highly recommend the book and beginning exercises.