For Asana Practice
Here are two warm-up routines for asana practice. Even better warm-ups are the Energization Exercises of Paramhansa Yogananda; they do much more than merely warm up the muscles and joints.
Asana Practice Warm-Ups 1
Asana Practice Warm-Ups 2
For Pranayama Practice
To energize and relax the body, and open up your breathing.