You promised you’d go to the gym after work, but when the end of the day rolls around nothing sounds worse. Then you set your alarm an hour and a half earlier to make it to that early morning spin class but find yourself snoozing the alarm and skipping it. There’s an easy solution: get your favorite equipment for your home. If you want great cardio that doubles as effective strength training, a step machine might be the right choice for you. Here are four excellent options to step up your workout game.

Low-impact: ProForm Cardio HIIT Trainer

24 Resistance Levels

Burn calories and build strength with this full-body workout. Amazon

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If you want the benefits of a step machine without the strain on your joints, this is the machine for you. With your feet firmly on the pedals, the footpath runs 10-inch vertical (2 inches higher than commercial step machines) and 5-inch horizontal, which makes this an even better workout than a traditional machine. The street-view scenes allow you to workout anywhere in the world via Google maps, or you can use the integrated tablet holder to watch your favorite show while you workout. The multi-function handlebars will keep your arms involved, and you can use the unlimited workout library for new routines when you feel uninspired.

For small spaces: Sunny Health & Fitness Twist Stepper Step Machine with Handle Bar and LCD Monitor

Non-Slip Pedals

Are you dreaming of toned legs and tight glutes? Amazon

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If you’re tight on space or don’t like the look of gym equipment in your living room, this stepper folds up for easy storage. Rubber floor protectors keep your floors unharmed and the machine in place, while the handlebars allow you to remain comfortably upright. You can track your number of steps per minute, total number of steps, workout time, and calories burned with the multi-function monitor, and the price tag makes this machine especially appealing.

Most features: Bowflex Max Trainer Series

In A League Of Its Own

Kick your own butt. Amazon

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If you want commercial-grade equipment that can do it all, this is the machine for you. Not only does the Bowflex M8 have 7 workout programs and 20 levels of resistance, it also comes with an app where you can monitor and track goals on your own or tune in to videos from professional trainers if you want a little extra motivation and instruction. The M8 can store 4 user profiles, so the whole family can get involved and log progress separately. If you like listening to music while working out, this machine is Bluetooth compatible too.

Most affordable: Sunny Health & Fitness Mini Stepper with Resistance Bands

Easy To Store

A machine that lets you step side-to-side when stepping up gets boring. Amazon

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This is another excellent option for those of you looking to save space, and in place of balancing handlebars are easily detachable resistance bands to work your arms, chest, back, and shoulders too. The adjustable height lever allows you to increase step height as your workout needs change, and the LCD display monitor tracks your stats—total count, time, calories burned, and rep count.