These are the things that I do to get myself grounded. I still have to work really hard at getting myself grounded, but these are the things that are pretty successful. If one doesn't seem to be working, I move on to another one. When I'm with my kids, I do things they can participate in. If I'm by myself, I do the things that are appropriate for that. I'm not often without my kids, so I take advantage of any time I'm not with them, and need to get grounded to do the breathing or the swimming or punching the punching bag

Breathing colors. My favorite color is pink. I breathe in pink and imagine the pink going to all of the places in me that hurt or need attention. Then I breathe out toxins and pain and poison in black. I do this until I can see my entire self filled with pink. Sometimes this takes 2 minutes, sometimes it takes an hour.
Listening to my favorite loud music. This leaves me clearly in the present. I was not allowed loud music when I was young and this is a fairly new phenomena to me.
Coloring. I color in mandala coloring books.. The shape and the experience is very soothing and grounding to me.
Drawing my own mandalas.
If I am not feeling grounded in the morning, during my shower I make sure to scrub my skin with a peppermint salt scrub. I also wash my hair with peppermint and lavender shampoo. Then I use lavender lotion on my skin and peppermint leave in conditioner in my hair, leaving those scents to ground me for the rest of the day. I often also dab lavender oil on my wrists so I can get a good whiff when necessary.
I use boxing gloves and pound the heck out of a punching bag. This lets me feel my limbs and my muscles in the present.
If I can, I will go swimming. The water all around me and the sense of moving my limbs grounds me.
I drink ginger tea or very strong coffee.
I put all of my stuff that I don’t want right now in a box, in a rowboat, that is attached to a very long rope that gets let out into a very large and remote body of water. Sometimes I do this again and again.
I imagine my spirit guides dealing with what is bothering me. Maybe my peacock spirit guide eats whatever poison is bothering me (peacocks eat baby cobras and then the peacock feathers can be ground up to make an antidote), I might imagine an owl flying off with the culprit in its talons.
I pay very close attention to my children and make it my intention to to give my children all that I did not have.