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Lie on your back on a blanket.
Bicycle both legs in the air while simultaneously rotating ankles. Continue for several minutes. Every ten or so bicycles, pause (keeping both legs in the air) to flap both arms. Rock side to side--not quite rolling over--several time and repeat entire back routine.
Lie on your stomach on a blanket.
Lift all four limbs off the blanket as well as your head and flap all four limbs wildly for several minutes. Return hands and feet to floor and push upper torso into "cobra" position. Hold for several minutes. Repeat entire routine.
Happy exercising!