there's a dvd that allows you to 'walk' in place in your home, with a group in the studio, with a leader and music. It's a series, all of them good.
Leslie Sansone exercise and workout videos & DVDs
I have them on DVD and on video. It doesn't take much room to walk in place in your own home, and you actually rack up quite a few miles, if you want. And you can stop whenever you want. It's great.
I agree that jumping rope is hard on your joints, even if you are a fit person. It requires more space, and probably isn't as pleasant as working out to a DVD.
collagevideo has so many great workout videos and dvds. I even did one with an elderly friends, both of us sitting in chairs and doing gentle exercises to music. Some of the videos are filmed in interesting places, too.