I'm not exactly the outdoorsy type nor will I pay to join a gym. So, when I found this series of walks that I can do in the comfort of my own home and on my schedule I was very happy.
It is called Walk at Home with Leslie Sansone. I started out with some of her DVDs and then when the app came out I subscribed to that. There are some workouts that you can see on YouTube for free. She does strength training with the walks as well. It's fun and there isn't too much complicated choreography. Just enough to keep you engaged.
Here is an example: