I have a friend that swears by Fitness Blender. You can select the type of workout you want, the intensity level, the length of time, and whether you have equipment or not. You can totally customize it, and do it at home or anywhere you have an internet connection. It can be completely mellow or very rigorous. Maybe try that or something similar a few times a week so you can do it from home and can ease into what you're comfortable with?

Otherwise, I do DietBet to motivate me to both eat correctly and get my workouts in, outside of my regular 2-3 times/week I do martial arts. Those are a set schedule of classes where we all know each other and work together. My family goes, too, so the social bit (having someone to go with) is REALLY key to getting me there regularly.