I exercise at home, mostly because when I started I felt just like you, and now that I don't I'm so used to working out here, and I've got a good enough set up I don't have to move to a gym anyways. If you're willing to get your equipment used (think craigslist, stuff like that), you can get some top notch exercise equipment for cheap. Just imagine how many people were sitting around with a tub of ice cream, saw that commercial, and made a spur of the moment decision that they would change their lives. You think all of them stuck with it? Hell no. Most people are lazy, and just looking for an easy way out, when they realized exercise wasn't it they gave up, and now they've got this machine taking up space in their home, but it's too valuable to just throw away.
So I have a nice weight machine, it goes up to 200LB, though I'm not near that strong yet (so I've still got lots of room to grow with this particular machine). I generally do ladders, starting with 90LB 10-25 times, then 80LB 25-50 times, then 70.... well you get the picture. It kills you. But I've also got an exercise bike, and quite a few free weights as well as strap on wrist weights and a medicine ball. And I also do push ups, bicycle and crunch things, and when I'm feeling genuinely suicidal burpees.
So, after you've secured any equipment you want, and have found some other exercises that you like to use, my first piece of advice to you is this. DON'T say to yourself "well I'll just do so many of this exercise on this day." It's ridiculously impossible to stick with, and while you may be the exception, most people won't stick with it. Instead, designate a time in the morning to work out for a duration of time, doing whatever exercise you feel is right to work on that day, or maybe doing a few and working on different areas. 20-30 minutes is a good time frame to start with. Starting with 40-60 minute work outs it's too easy to get burned out and give up.
My second piece of advice, find something to motivate you to want to work out. What I like to do, is use the money I'm saving on gym membership fees to get cheap shows that I'd like to see on DVD. The first time I watch them through, I'm only allowed to watch them while I'm working out. It works especially well with a show that you really want to see more of, because you get up and you're looking forward to finding out what happens next. By the time you're done, if you've done your work out right, you are covered in sweat, and instead of feeling tired you feel more pumped than you can imagine.
These things have all worked pretty well for me, so take them as you will, but hopefully they'll be helpful.