Here is a video of a nice couples inversion therapy. I have some experience with it and it is wonderful. I suggest including these postures in your couples yoga sessions.
However, finding a partners that can support each other is a non-trivial task. :)
We got a table off EBay that I have used in the past. The following table is made by another company but I like the demo the gentleman gives.
After the hip replacement I will NOT be doing full inversions shown above, just down to 45° so that table friction holds me up, not my ankles.