Piggyback on top of other changes if you can. I moved and started a new job, which jump-started my new routine, but it doesn't have to be that major. Switch up your breakfast foods, take a different route to work, leave a couple of minutes earlier. I found that messing with my old routine made it easier to change my workout and wake-up schedule. Schedules can be paralyzing and feel impossible to change; making small shifts can get you moving again.
Decide why working out is a priority for you. Getting up early every day is hard. If you're making this commitment, there's a reason for it. It might be short-term, like feeling good for the rest of the day; it might be long-term, like losing weight or training for a marathon; it might be a mix of both. Identify your reason, hold on to it, think about it often. Those positive, motivational thoughts will coalesce into a solid sense of discipline, and that's ultimately what'll get you out of bed in the morning.