It’s not much of a “routine”, really. I work it in around all the other bits of my life.
Way back at the beginning I was too inflexible in my routine, and that created unnecessary problems (as inflexibility usually does). My wife doesn’t practice. She really needed me to demonstrate a willingness to adapt my sitting to whatever else was going on, even if that meant sitting at awkward times, or not at all on a given day. Things went much more smoothly when I figured that out.
The kids are gone now, which opens up more time, but I still schedule my sitting to not cut into time with my wife. These days, I sit when she does her evening treadmill workout. I’ve learned to sit with the thump, thump, thump coming from upstairs. My sitting lasts however long her workout does, usually 45 minutes or so. I just stop when the thumping stops.
It’s not ideal, I guess. That’s sure not the time of day I feel most alert. But I’ve stopped believing that “ideal” really matters. There’s something beneficial in just making do with whatever you’ve got to work with, ideal or not.
I tend to sit on a cushion on a bed. That’s not ideal either, because the mattress gives too much, but oh well.
I’m lucky that in addition to all of this very unstructured home sitting, I’m at the temple several times a week. There, everything is “just so” for sitting: great space with all the right cushions, etc. It’s a good mix actually, having the more ad hoc home practice interspersed with the formal temple practice.