Gym memberships are expensive for a reason. Fancy equipment, pools, saunas, locker rooms, and staff all drive up costs that are passed on to consumers. But personal fitness is a function of mindset more than membership, which means that the core objective of any workout can just as easily be achieved in your living room or basement. With minimal investment in some home-gym equipment, there are nearly infinite ways to establish a routine that will tax your body instead of your budget. Here are three ways to get started.