Any time you’re getting ready to do physical activity, you should do some sort of dynamic warm-up. It doesn’t have to be the same every time, but you will probably find yourself incorporating a lot of the same moves each time.
The most important thing to keep in mind is to always do movements in your warm-up that closely (or somewhat closely) mimics the movements you’ll be doing in your workout. So, if you have squatting movements in your workout, try to focus more on air squats in your warm-up. Pretty straight-forward.
Whatever you do, DO NOT SKIP YOUR WARMUP. Getting your muscles loose, even just for a few minutes, will go a long way towards preventing injury when you’re working out.
Here’s a good video to get you started, but feel free to ad lib off of this as needed: