1) Walk everyday.
2) Vary the pace i.e. brisk walking interspersed with slow walking.
3) Use weight vests/weighed backpacks/ankle weights from time to time.
4) Do uphill/downhill and/or up-the-stairs/down-the-stairs periodically.
5) Walk after Meals and after Exercise.
6) Get up and Walk during breaks in between tasks.
Personally I found this with running. It never became a consistent habit and something I looked forward to until I stopped thinking about where, when and how fast I was running and just did whatever I felt like. This realisation came after many years of trying and failing to stick to any kind of cardio exercise, and now a couple of years later I have a few half marathons under my belt and am training for my first marathon later this year. I attribute this entirely to the mindset change I described.
Walking in nature (aka trees around) has proven health benefits also.