The great Yogi Swami Satyananda Saraswati described the Pawanmuktasana yoga sequence in Asana Pranayama Mudra Banda (Bihar Yoga School). This series of exercises is a fantastic preparatory sequence to practice before moving into deeper asana practice. The series opens up the joints, relaxes the muscles, and promotes general health. The exercises can be performed by almost anyone and are excellent for rehabilitation from injury or illness.

The first sequence is demonstrated in the following video from Youtube. There is also a Word Document with a list of the sequence attached if you'd like to download it.