https://www.dummies.com/health/exercise/yoga/how-to-do-the-c...
See also
https://www.barnesandnoble.com/w/treat-your-own-back-robin-a...
Cobra and the exercises from that book are easy to do at home but I like the bioenergetic arch
https://www.youtube.com/watch?v=225tAQzCVhs
because it is standing and you can do it anywhere, just please wear better clothes than the guy in that video.