Make your workout sessions a commitment with someone else. If you know someone else who also wishes they were exercising, contact them to arrange a time once a week, or more, to work out 'together'. Even now, you can do socially distanced outside in the same place, or video calling from your house to chat/ check form/be present, or do either at a gym if they are open.

If you don't know/don't want to involve anyone else, you can also pay a personal trainer to do this.