I looked at the Desktop Yoga video. For this type of video where the video is shot and then narration is added. There are a couple of ways to go and budget comes into play real fast.
For low cost, I think I'd take a good look at the Canon HV40. Inexpensive (you can find it for around $650) Good looking video and exceptionally good Image Stabilization. (also you can easily find wide angle adapter that fits this camera (Raynox 6600) For a more pro model look at the Canon XH-A1S (you can find them around $3,400) You may also want to consider a steadycam type of system for those handheld shots.
For narration forget the Shure SM-58. These are old style inexpensive dynamic microphones, They were designed back in the 1950's and primarily for Live applications. The beta 58 is better, but still not designed as a voice-over mic, which is what you truly need.
The EV RE20 is without a doubt the most widely used voice-over and broadcast microphones. They sell in the $400 price range right now.
You should also take a look at Audio Technica 4040 or the Rode NT-1A (both around $300) Also good is the AKG Perception 220 at under $200 this mic does a remakable job. Any of these mics will give you a very clean and full rich sound. They are condensor mics and require a phantom power supply or a mxing board with Phantom power.
Or you could go with a USB mic and get pretty good results recording directly to your computer depending on what editing software you are using. Or use a stand alone recording program such as SONY Soundforge or music studio for the narration and then import the audio clips to your editing software.
Decent USB mics include the AKG Perception 120, The Audio TEchnica 2020 USB, and the Blue Microphone YETI. The drawback to these USB mics is that they only work on a computer.
So I recommend geting a mic with more flexibility and use an audio interface to record to the computer. This can something as simple as CoEntrant's MicPort Pro ($150) or even Blue Microphone's Icicle ($60) These give you the phanton power you need for studio condensor mics, a simple preamp and convert to USB.
If you need a bit more control look at an audio interface from mAudio or Presonus. (under $200)
Hope this helps.