Exercise is essentially for a truly healthy and optimal mind and body. 
I agree! I need to exercise more. Do you have a routine that you do each day?
Yes I do. I used to go to the gym at least 5 days a week but now I work out at home with free weights and a pull up bar. Typically I will stretch/warm up for 15 minutes before going into my workout which can vary. 
How important is it that you strech and warm up? Do you skip some days?
Warming up properly is essential to avoid injury and minimize post workout soreness. Depending on what I will be working out my warmup will either be focused on my upper or lower body. It is important to incorporate some rest days so your body recovers but I still do something like hike, walk or work around the patio on my off days. 
What is the best way to warm up?
I would suggest buying a set of bands to help with warming up. Then you have try and play around with different stretches especially for your hips and lower body until you build your own routine. YouTube has a wealth of different examples. Would also incorporate some jump rope on the days you work on your legs to get the flood flowing. 
Are you familiar with no equipment workouts?
Yes I'm but it's not my personal preference although I do a lot of pushups now that I'm here at home working out. Are there any other physical activities you enjoy? 
I really love playing softball. I play womens slow pitch softball every week.