I've taken several http://www.feldenkrais.com/ classes. They are fantastic for people with MS. The movements are a combination of gentle yoga and pilates. All of the movements are done on the floor and are very gentle. The goal is to retrain the body to move correctly. I've found the stretches have greatly improved my pain and balance.

Many physical therapists are certified in this method and do a hands on type of therapy which insurance will pay for. Betty