The iliopsoas is actually three muscles that function as a unit, the iliacus, psoas major and psoas minor. The psoas major and minor (absent in 40% of the population) originate on the transverse processes of the five lumbar vertebrae and then attach to the femur. If these muscles are tight they can cause the lower back to curve anteriorly and if that becomes chronic, can lead to lower back pain.
In Pulse Yoga, we have MANY postures to help with this condition. One of them is Crescent Lunge with pelvic tilts. Right leg in front bent at a 90 degree angle. The back leg extended behind. In this posture, begin to do posterior and anterior pelvic tilt. You will feel it mostly when the pelvis is tilted posteriorly. With the addition of holding weights with the arms and doing bicep curls, you increase the stretch in the hip flexors of that back leg even more.
Oh, and for the future. Have you ever noticed how some elderly people take very small steps? It could be that the hip flexors are so tight that a normal stride is inhibited. Yikes, nobody wants that!!