The downside to exercising in the evening is it's very easy for undisiplined people to skip it. Although I don't do it daily which really helps staying motivated, especially if you make a routine that lasts about 2-4 hours, not including the shower and clean up afterward.
As for someone like you who doesn't do it, just start with cardio. Do it for like 30 minutes to an hour every day or every other day. If you miss a day, get a little upset at yourself and do it that day then. Treat your days off as an earned reward. Then once you've disiplined yourself with the easy stuff, start adding in more.
I've personally found that adding little by little over time makes it easier to feel like it's something you "just do" versus actual work.
Instead, I made it to the first thing I did was wake up, have coffee, and read the newspaper. By the time that is done I am awake and somewhat relaxed, and in a much better state to contemplate exercise.
Make sure that you are aware of every single breath in, and every single breath out. If your mind wanders and thinks about other things, that's ok, don't stress about it. Just make sure that you are focusing on your breathing while your mind is wondering.
If this is true, then it should be easy to meditate in the mornings whenever you do mundane time-consuming things like taking a shower or driving to work, for example.
I think you might have taken that video a little too literally. I'm not a meditation expert by any means, and I acknowledge that you shouldn't stress about other thoughts entering your mind, but you should then allow those thoughts to pass rather than lingering on them. Imagine the thought is "a lorry has just pulled out in front of me"! Driving and meditation are surely incompatible.