If you read journals, gym logs - you can see how different routines people here have. Some prefer cardio, some prefer weights, some prefer Pilates, some prefer outside activities, some prefer gym. The list is unlimited. There is no ONE "perfect" training program fit for all.
As a first step I would recommend to start with something that you really like, enjoy. Anything that you would do, can do 3-5x/week. If you go to the
www.collagevideo.com - you can see detailed descriptions of hundreds videos - even with 60-90 sec previews.
The secret: consistency. Sticking to an exercise program. Creating a habit to exercise. It is much more easier if you enjoy it.
You mentioned Firm or the Taebo - excellent programs. You might start with any of them. Then there is plenty of time to modify your program. To do something more or something different.
If you check the Exercise threads or the Challenges threads you can find many exercise support groups, join to one of them.
Good luck to anything you chose. HAVE FUN:-)))