Pay the $20 and take a spin class sometime. Crossfit also has some similarities. There is a group aspect that motivates, pushes and pulls people along.

The instructors are 1 part DJ, 1 part program designer, 1 part hype person, 1 part personality, 1 part community leader, etc...

Recorded videos work fine, all (I think) Peloton classes are available in the back catalog.

I'm pretty self motivated (I power lifted for years, which is a huge grind), but my cardio work has always been more intense and effective when instructor led.