A full body workout

Working out is hard to do unless you have will power or a great love for the stuff.  Growing up and playing competitive sports did not leave me much time to workout.  We did some stretching always before our practice, but there was never any official workout aside from playing the sport.  Now that I am too far gone for sports, I am looking for a full body and abs workout.  After having a couple of kids, my abs are way out of shape.  I was doing yoga and swimming laps for awhile, but I have to move on to something else now.