This is a simple daily practice that I discovered in Deepak Chopra's book Perfect Health, The Complete Mind Body Guide. At the end of the routine you should finish up by lying on your back in the 'Awareness pose' for 5-10 minutes. 

The Sun Salute

Time: 1-2 minutes for each cycle, moving slowly.
Repititions: 1-6 cycles in the morning, more as you become experienced.

The Sun Salute is a complete Ayurvedic exercise that simultaneously integrates the whole physiology-mind, body, breath.It strengthens and stretches all the major muscle groups, lubricates the joints, conditions the spine & massages the internal organs. Blood flow & circulation is increased throughout the body. With regular practice you will gain stability, suppleness, flexibility & grace.

Yoga Positions

Time: 10-15 minutes, moving slowly.
Repetitions: 1 set in the morning and 1 set in the afternoon

Guidlines

Perform the postures slowly, making sure you inhale & exhale, without holding the breath or controlling it in any way. Breathing should be easy, fluid & continuous.