Can big guys do yoga?

I've heard nothing but good things about yoga.  Stress relief, weight loss, increased energy and even healing.  I believe in it all and always wanted to try it out.  And I've always thought it was not for me.  Firstly I have horrible balance and secondly I am not the most svelte person.  The thought of me twisted up, sweaty and exposing my backside to the last row.......well, you get the idea.  BUT I've decided to try it tonight.  I'll let you know how it goes.  In the mean time just try NOT to picture me in yoga pants.