Penny was introduced to Hatha Yoga as a child by her father who taught in Sydney in the early 1970s with Acharya Upendra Roy. She began regular yoga classes in 1989 with Eve Gryzbowski and Colin Rivers at the Sydney Yoga Centre and gained her Introductory Iyengar Yoga Teacher's Certificate in 1997.
From 1992 Penny taught in the Iyengar method at various schools in Sydney and traveled regularly to India to study with BKS Iyengar and family. In 1993 Penny began classes with Zhander Remete, founder of Yoga of the Shadow School with whom she continues to learn. Penny has also studied with Sri K Pattabhi Jois of Mysore, TVK Desikacher of Madras and Simon Borg Olivier of Yoga Synergy in Sydney.
Penny taught at Yoga Synergy from 1998-2003 and then founded the Hatha Yoga Desha in 2003 to teach Shadow Yoga.