J.T.
I did the same recently and found great success with Denise Austin Boot Camp. There are three segments. One cardio, one cardio and strength training, and one stretching. The first two are a little over 20 minutes each which really fit into a busy mom's routine. When you have more time, you can do both together. Once you are in really good shape, you may find that it isn't challenging anymore but it really helped my start a routine and tone up. Good luck!