Stretching

CooperSprings

I would like to wake up, get ready, relax and do stretches to start off my day before having to get the kiddos up, but I know that stretching cold muscles isn't exactly good to do. Does anyone have a stretching routine or know of any I can follow on youtube, or any general suggestions about it? I've considered yoga before but it seems a tad daunting, at the moment.