My trick: Walk to meals and other excursions/shopping in lieu of driving.

If I leave on a walk for the exclusive purpouse of "exercise", I immediately feel bored, and like I'm wasting time, even if I "know" I'm not. Conversely, if I have goals to achieve at a destination, cutting the walk short to drive - or cook at home - is no less boring, and feels like a waste of the walking I did do.

It started as a way to take a break from work when I was crunching, with the company of coworkers. They'd grab lunch, or coffee, and you might as well stretch your legs and socialize while you're at it.