How to bring a spark back into a relationship

Boyfriend recently told me we lost that spark. I 100% also believe so, but had never said anything. We’ve been together 6 years. It just doesn’t feel the same. It feels like the same old boring thing. He says I sleep in which is part of the issue. I’ve tried suggesting us going out even to a free museum, do a picnic at the park, and he doesn’t want to he says it’s boring. I’ve started to wake up early but he still doesn’t want to go anywhere. When I wake up early now he tells me to go back to sleep. So I just don’t know what exactly I should do? (We have sex every time we see each other so it’s not lacking there, I guess it’s more of a relationship spark that we had when we first met?)

I just don’t have any ideas and I feel like we’ll never get that spark back.. does it come back?

Any ideas or advice is highly appreciated.