I start with head rotations, than some arm rotations and stretching, then torso rotations, then stretching the legs by doing lunges (I think they're called), then doing 2 sets of 25 squats with a very wide stance and also stretch my wrist for the last 5 squats of each set, then 10 squats with legs together, then stretching the legs and back by bending forward and reaching for my toes when standing, then some balance, standing on one leg and lifting the other backwards in the air and arms wide apart (this doesn't do anything, but I like improving balance in that stance).

Overall it takes like 3-5 minutes, sometimes after I do some crunches for some core strength and to get the heart pumping.

The squats are the hardest part, and require most motivation, but doing squats in the morning is really good for blood flow (to the brain especially).

I always do the stretches as soon as I wake up, after going to the bathroom but usually before washing my teeth.