If you don't have much space then there are stepper things that only take up a few square feet. Tesco do them for about £25. You do need a reasonable sense of balance though. There are also the 'air walker' style things which are less hard on the knees. They do take up more room and take a little coordination at first.
I just use the stepper when I remember. I have it in front of the window so I can stare out at the view as excercise is kind of boring really.
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