What always motivates me is the notion that my body won't be as attractive to me or anyone else if I don't go. Who says low self-esteem is good for nothing? If that doesn't work maybe you should just go work out. My problem is with lower body-I don't really like to do it and my gains aren't so noticeable as upper body so I can't really give advice on the other part of your post.
good luck
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