Yeah, I have this problem too, due to anti-psychotic medication, and me naturally being lazy. Had trouble brushing my teeth consistently too.
I've watched youtube videos on this, and also from my own experience when I was most productive, that the best way to beat being undisciplined is to create a habit diary, and try and make habits out of stuff by using it. Like buy a paper diary or exercise book, and make a checklist of things you have to do each day and do them, and check off each task as you do them. Don't worry about the amount of time doing the thing either, just as long as you spend like a bare minimum of 10 minutes or so each day practicing each skill. Gradually you'll start to compulsively do the things you want after like 60 or so days of doing the thing straight, and you'll enter a flow state.
Here's a good youtube video which goes into more depth into what I mean...
Providing you don't get hospitalised, or something bad happen to you that is...
And providing you don't have ADHD either, this should work.
Course, the aforementioned therapy couldn't hurt either, that is if you can afford it. Therapy is expensive as hell, and psychologists can be dangerous if your not too careful, a lot of the meds they hand out have severe side effects, so be careful. Research side effects thoroughly....