motivation for at home workouts

no time for gym... 2 kids.. sahm... 1 car atm.. so at home workouts it is.. although my problem is I don't know how to get motivated while I'm at home to workout like I am at the gym.. I've went from 144 pre before my daughter was born to now 174 and I'm super insecure about it and my baby belly always tired and becoming depressed. . how do y'all get motivated? tips? tricks? eating healthy? tips on stopping my habit of being a night owl and waking up early? have bad insomnia, anxitey.. Ugh..