I think the main thing to developing a home practice is to start with one pose. Even if you only do one pose, you have some home practice. That is key - to begin the habit.

From the one pose you can:
Try to figure out what is going wrong with that pose, try another pose that would help with that. For example, if your hamstrings are tight in dog pose, try a few forward bends and then try dog pose again - see what happens.
Or work toward a "goal pose" - say dog pose was your goal pose - what kinds of things would help you do a better dog pose. This is similar to the above technique, but you might try a lot of things to help the one pose.

Or you could work categories of poses: Day 1, Standing poses, Day 2 Backbends, etc. - don't forget to cool down afterward. Experiment how each class of poses effects your day and mental state.

Or you could look for sequences on-line or in books. I just googled, "Iyengar yoga sequences". Looking at the "images" tab, there were a ton - all with pictures/diagrams to help you along (I do Iyengar yoga, so that's why I googled that - we are also very well trained in sequencing).

I will have to disagree with the "do what feels good" advice. I don't think this is always wrong, but if you only do what feels good, you will never do the stuff your body needs. For example, I dislike ab work and I really like stretching my hamstrings - so if I did only what felt good, I would have overly loose hamstrings and weak abs. I think better advice would be "don't do what hurts" - if there is true pain (not stretching, not doms, not muscles working) - stop immediately. Try to figure out why there is pain. If you can't, find someone who can.

I hope that helps. Feel free to message me. I'm always willing to talk about yoga.