Viparita Kirani is a great pose that reduces stress on the legs and allows you to rest and recharge your yoga practice. Here are some steps to get you into the pose with and without the wall.
All yoga styles and methods boil down to a set of doctrines, the 8 limbs of yoga. Following the 8 limbs of yoga eventually leads us into a state of bliss or Samadhi.
Here is a tutorial for yoga poses to open hips and shoulders.