If they are planning to move him to a nursing home, you should tell them that you need to approve it before they can release Joel.

FORBES: Negotiation Preparation for End-of-Life Care

When you find a class that fits your schedule and seems convenient, try to meet with the instructor to tell him or her of any physical limitations you may have, and to discuss how you should prepare for class.

CNN: Yoga: Fitness from the inside out