Other than walking all over our city to get places, at present I just run. Running is my favorite activity of all, and I have been an on and off again runner for two decades. My current goal is to run at least 3x's per week, 30 minutes at a time, for an entire year. At which time, if I haven't injured myself again, I will add distance to that. I prefer running distances rather than running fast. But I have a long history of back problems, hence why my goals are so conservative: I am apt to get overeager and do too much too soon, and wind up on the sidelines. It's working so far, as I've been running now since June without an injury. Woo-hoo!
It's really easy to fit running into my schedule, because there's no need to get to a gym. I just pop my sneaks on and head out my door. Of course, I work from home, so that makes it even easier. But when I worked in an office, I'd either get up early and run before work, or I'd bring my sneaks to the office and run over my lunch break (we have showers and lockers), or run immediately after work and before dinner.
When I had preschool kids, I did belong to a gym which had a babysitting service. Would take the girls there weekday mornings. Go for a run, lift weights, shower. Worked out well.
How to keep it interesting: run different paces, different distances, different routes. Run with partners (if you like that - I'm more of a loner). Run with your ipod. Run on the beach. Run during vacations. Sign up for a race or running club. Map and measure your progress. Take up a program like C2K or others - there are tons.
Other fitness activities I have done over the years:
1) Firm videos NYC mentions... they are killer! And they are my most favorite videos to do. I find I habituate too quickly to most exercise videos, but the firm keeps you challenged, and you don't need a whole lot of space either, which is a plus.
2) Lift free weights - whether at home or at a gym
3) Self fitness challenge - check it out online.
4) Step Aerobics - I joined a class when this first came out, years ago. Fell in love with it. I have my own step bench, and if the weather is too sucky to run, I pull out the bench, pop on my ipod, and step. I just make up my step movements as I go along - once you know the basic steps, it's easy to go "free-form." It's very effective, feels like dancing to me, and does wonderful things for your thighs and butt.
5) Go out dancing with my sweetie! At one of those "oldies" clubs that plays tunes from the 80s.
6) Yoga
I learned through trial-and-error that I really don't care for anything involving water (swimming), classes, a bike, or a machine (like treadmills and stairmasters). But YMMV. Just find something you love!