This can take many forms: kicking the legs front, side, back; hip rolls; going for a jog; or standing barefoot on the earth in the morning dew if weather allows. This is also known as earthing which is a fascinating area to explore all on its own!
My daily morning go-to I learned from the teaching of Master Hong Liu, a qi gong grandmaster. He says we die from the feet up meaning we energetically lose our feet, then our legs, and so on, until we live predominantly in our heads. Not a surprise.
He teaches seated foot taps and ankle twirls for which I do not have a video link but it’s fairly simple to describe.