I do 5 sun salutations (look up ashtanga videos... these can be as simple or as intense as you want, there are a lot of variations depending on your capability) the minute I get out of bed. I go pee then I am on the mat.
I have been keeping that going for about a year.
I used to do more (10) of higher intensity, but less frequently and in the afternoon as part of a workout, but I would go through periods of not doing any.
since starting every morning with a quick set to wake up my entire body, it's been transformational for my entire day: better posture, better balance, just generally spending more time mentally and instinctively in my body.