There is a great DVD series I found recently that is called "Walk at Home". They are by a woman named Leslie Sansone. She has all different levels of DVDs from very beginner to advanced with resistance bands.
You can check out her website at
Walkathome.Com The official site for Leslie Sansone's Walk at Home program. They even have a one mile walk video you can watch on the site. I have started walking recently and really like her videos. I got a set that has a 2 mile walk (with optional interval training) and a 3 mile fast walk.
They use a combo of walking in place, side steps, kicks, etc to change it up and keep it from getting monotonous. If you take it easy, it can be very gentle but when I push myself it can be really challenging. And since it is a DVD, I can stand under the ceiling fan in front of the TV and stay pretty cool. It's over 100 degrees out here usually during summer.