Warmups are underrated and underused. One of the easiest ways to incorporate a warmup into your workout is to make it actual work so that it’s warming you up while working you out. One of my favorite ways to warmup is using an exercise ball.
I’ve used many different styles and combos over the year but have found some moves and sequences to be particularly efffective at getting the whole body going and moving in a lot of good ways. Here is a video of a my favorite approach, followed by a couple of other derivatives I like to add from time to time, depending on how I feel and what kinds of movements I might be preparing for.