I have done the P90x workout for a while. It requires certain items, but it really made my legs burn. Although most of the leg exercises don't really require the videos. Lynn P said the chair and wall sit, which is totally effective and will make you hate your legs for sure. After the hurt goes away, it gets easier. Simple squats works too.

Swimming, cycling, and walking are all amazing exercise. For both legs and cardio. More toning than building muscle. So you can do that!