A good approach is to do an 'active warmup' - some light cardio, maybe ~5 min of biking or jogging, followed by a series of exercises done over ~20meters or so,

A good approach is to do an 'active warmup' - some light cardio, maybe ~5 min of biking or jogging, followed by a series of exercises done over ~20meters or so, going out and back: pull your knee to your chest, quad pulls, lunges, high knees, butt kicks, shuffles, drinking birds, toe touches, karaokes, leg swings, others... takes a little time, and sometimes looks a little funny... but is great for getting you warmed up.