As a busy mom, it is great when I can multitask. This tends to be one exercise I will do while sautéing vegetables or browning ground turkey.
I find my doorway in the kitchen that has been over taken by my baby's jumperoo. I start with my feet in the middle of the door frame and then move them closer to whatever side I will be doing the exercise on. I hold on to the door frame and exhale and tighten may lower abs as I go out and come back in.
I may do 5-10 reps, 1-2 sets while cooking dinner.