Insanity for the not so fit?

I would call myself "average fit." I do some sort of exercise a minimum of 3 times a week, sometimes 5 times a week. I was getting bored so I bought insanity off ebay. I made it though 2 weeks of it before I stopped. I pushed myself hard, lifted my knees as high as possible, jumped as high as I could, ect. However when I was done working out, I felt like my ankles and knees were going to collapse. Then I got to the point of feeling like my back was going to break also.

Has anyone completed insanity and not pushed themselves all the way to their limits and still seen some results?

I did a few DVD's without pushing myself fully and I felt pretty good afterwards, but I'm concerned if I don't push myself to my limits that I will waste 60 days of my life and not make any difference. My final goal is to tone up a little, not even a lot. I've maintained the same weight for 14 years so I'm not necessarily worried about loosing weight or even having a 6 pack. Just need to tone a little.

If I'm going to devote an hour a day to exercise, I at least want to see a little shaping up, without causing a major injury. Thanks