No, but once you've seen what you need to practice, it can be done safely on your own on a carpet or grass (I would not recommend practicing on a hard surface; not that it won't work, but you'd get very sore doing it repeatedly).

Additionally, once you've had it shown to you in person, you can probably rely on YouTube if you need a refresher. I would not recommend skipping the actual lesson in favor of YouTube, however. It's best to have someone watching to see if you're doing the exercises correctly at least once.