I believe that panchakarma is not done at home by yourself but always in an ayurvedic clinic, under a constant supervision of an professional ayurvedic practitioner. Panchakarma consist of five therapies, but it is the auyrvedic doctor who decides which therapy to use who whom, depending on the body type, illness, season and many other conditions and factors.
On the other hand, I think that the yogic shatkarmas (cleansing therapies like kunjal or shankaprakshalana) can be done at home by yourself once you have learned them from an experienced teacher.
Swami Satyananda's book Asana Pranayama Mudra Bandha talks about them in great detail.
Hope it helps.
