Comment by AlanYx

One technique that I've found helpful is setting up triggers, rather than routines. A trigger being a commitment of the form, in circumstance X, I will do Y. e.g., When I enter the bathroom the first thing in the morning, I will do some pushups. At a high level, it accomplishes the same thing as a routine, but it doesn't require the global discipline of a routine. With triggers you're only responding to the moment.