walks
That's all there is to it. Incline walks really are painless. Absolutley hate slugging it out for 30/40 minutes at a moderate intensity.
Take the dog for a walk and then do some short sprints 15-20 seconds with 40 seconds rest for about 10 minutes at somepoint during the walk.
You can chase your dog/he can chase you, you get some HIIT and steady state done and your dog will be K.O'd for the evening too