Even if you don't have a gym membership (I don't), you can still get a great workout at home. I came across Fitness Blender about a year ago and have LOVED their workouts. My husband think they are great too- so they are "man approved". Oh yeah, and they are free!
They have a huge variety of workouts. You can search under difficulty, length, equipment needed, body focus and training type. We love (and kind of hate at the same time) the HIIT workouts. High Intesity Interval Training workouts are great when you are short on time and really want an intense workout. They have great toning and stretching workouts as well. Workout Video Library
If you need a little more structure and need some day-to-day guidance they do offer workout programs and meal plans for purchase. I've never tried one, but they do get great reviews and are very reasonably priced. Work Out Programs and Meal Plans