Cleaning your bathroom can be an excellent workout for your legs if you do it this way. Do not kneel to clean tight spaces or surfaces under the toilet or bathroom sink. Instead, squad or lunge down safely.
For your arms, use baking soda in your glass doors or mirrors by holding a sponge on each hand and scrubbing them with a circular motion. Try this for one day, and you will see how you feel the next day.
You could incorporate this to other parts of your home.
Here are some useful links so you can read more about it: