Exercise routines?

I have been on and off with working out but now I am thinking to get more serious and I have two friends who want to work out with me and its great having the support because its hard to stay with it when your solo with no support around you.

My question is: what do you guys do for general fitness. I am not looking to build up any serious muscle or get crazy and also I don't want to buy equip. I had in mind simple and general stuff like sit ups, pull ups, push ups. maybe some stretches....that kind of thing.

anyone have a routine that works ??

I found some info on the web but it seems overwhelming and don't really answer directly.

http://www.shape.com/fitness/workouts/10-best-exercises-women