Newbie here, I just did first workout B, Stage 1. The only real problem I had was the lunges. I can't seem to step far enough to get thigh parallel and more annoyingly, I kept falling over!
Is it "cheating" to do these next to a counter where I can help my balance and grab when I need to? Should form or balance win out at first? I'm assuming it will get easier and I eventually won't need the counter near.

I'm 221 pounds and didn't want to try weight with lunges yet. (Maybe I should?)