How do you wake up ?

For the life of me , I’ve always struggled with mornings . Since I can remember , I’ve waited til the last minute to jump out of bed if I had somewhere to be (school , work usually ) . It’s almost like I self sabotage my day by doing this . I rather just lay there than give myself more time to enjoy my morning and have a routine .
Any tips ? I know it sounds so doable but I just struggle with this so bad !