Aside from my basic yoga stretches that I've been doing regularly, I warmed up (dynamic stretching) and did a combination of the following:
15 walking lunges (per leg)
50 ab crunches
15 glute raises w/1 leg raised (per leg)
15 side leg raises (per leg)
50 sec hold plank position
Cool down stretches
It doesn't take long, you work up a good sweat, and you basically have a full-body workout - no equipment needed.
All you need is commitment and some good music!