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I have one that allows for a little flexibility, which is why I'm able to stick to it:

Sunday: weight lifting
Monday: rest
Tuesday: kickboxing
Wednesday: weight lifting
Thursday: kickboxing
Friday: rest
Saturday: run

I alternate upper and lower body on lifting days (as well as intensity, depending on if I'm sore or not.) I also alternate how long and hard I run on Saturday - sometimes I do the track at the high school, sometimes treadmill, and sometimes just out and about in town.

A routine is the best way in my opinion. That way you have to actively chose to not go (and feel guilty if you don't-ha!). Otherwise you are constantly have to motivate yourself to schedule it. If that makes sense...

My ideal schedule:
Mon-crossfit*
Tues-run
Wed-crossfit*
Thurs-run
Friday-crossfit*
Sat-run
Sun-rest
*I inevitably miss one of these sessions because life happens so I avg 5x/week of exercise.

I work out with a trainer (weight lifting) twice a week, so those are scheduled. I also plan to go to Stroller Strides every Monday.

Other than that, I try to do one more day of cardio (intervals or a run), but I keep the timing flexible. I try to think ahead and put it on my calendar so I don't forget, though.

Ideally I would do more cardio, but I want to keep my workout schedule sustainable, and right now this is what I can do with a 12-month-old.

@raspberries: It helps that I refuse to work out in the morning, so my only workout time is after 5:00 - which narrows down a lot of the classes. I took a few months where I tried different classes and finally found the ones I like the most and fit the best into my schedule. So after the initial leg-work there's not much to keep track of

@FliegepilzHut: It also help me to go directly to the gym from work. No time to talk myself out of going. I started doing yoga at the beginning of the summer and I am obsessed. I'm so much stronger!

Ditto what @hotchildinthecity said. I do CrossFit and go 2-3x/week. They offer yoga on Saturdays which is on hiatus, but once they get back, I'll add that to the routine. I think it's definitely best to have a set routine than not to!