The first yoga book I bought was How to Use Yoga, by Mira Mehta. It’s very clear, with lots of pictures. It covers many basic poses, and in the back it gives the sequences for a couple of years worth of home practice. The sequences show thumbnail photos of the asanas, so once you know how to do the poses you don’t have to do a lot of flipping back and forth in the book.
I think it was out of print for a while, because I kept seeing it in discount places like TJ Maxx and Tuesday Morning, but I haven’t seen it there lately. I hope I come across it again, because I gave away my last copy. It’s a perfect beginner’s book, especially for someone who has already attended some Iyengar classes.