If you want to throw money at it, try hiring a personal trainer for 2 or 3 days a week.
(I had a personal trainer for a while who trained me and a friend, just having the commitment to trainer at least made me show up, and it was his job to keep things fresh. Having a friend there also helped make it less boring).
Totally agree. I did this after a few years off being a competitive track athlete, and trying different sports. I got a personal trainer to come to my house 3 times a week at 6am. It works because you don't have to think about what to do, you're just told to do it. You can't get out of it because they're coming knocking on your door at 6am, and you end up having some fun and interesting conversations. That got me back in to track athletics with a coach and it's something I look forward to every day.
Depending on your location and the experience level of the trainer for someone to come to your house and use equipment at your house plus/minus some small stuff they carry in, I think it could be anywhere from $60-$200 an hour.
This doesn't really work for a lot of people because now on top of still being inconvenient and not changing the willpower aspect, there's also the constant knowledge that you're spending money on something you don't really need. The only exception I can think of is if the gym could literally go to you, as in good fitness equipment in a large van or small truck that drives to your house with the trainer.
(I had a personal trainer for a while who trained me and a friend, just having the commitment to trainer at least made me show up, and it was his job to keep things fresh. Having a friend there also helped make it less boring).