Struggling to get up in the morning

I need some help getting out of bed. I know I don't sleep well so that's probably part of it. However, it's so hard to get up. Once I get up, I'm good to go. However, I feel like I'm missing out on time to get things done for not being able to wake up at my desired time, and waking up when I have to. Would love some tips on how to sleep better and get yourself going in the morning. I work from home, so I feel like that is also part of my laziness of getting out bed.