I just do it at home. I don't know about anyone else.
But decide what your're going to do and then do it like clock-work, like brushing your teeth.Try and get in one a day, at least.Can be easier said than done. Look beyond asana if you feel the pull and are so inclined.
Making a habit of it is the trick, the secret.
This is an age-old problem and a big one for me..Perhaps for everyone.Discipline i guess.
If you just practice asana consider s ome of the other limbs.
Feel free to share what your practice might be, consist of.
Yoga Practice is largely a matter of a subtl mixture of doing & non-doing(allowing, letting-go).
I struggle with this one myself.Setting up & then developing the habit- that is the secret.
When the habit has formed you should be yearning to re-visit your meditation seat or asana mat or whatever.Like burning desire!!.The pull is & becomes stronger and you should go with it. If there are aspects of pracitce you are struggling with that is another matter as is not being sure if your current practice is ideal or optimal for you for you. But what you mention willingness & desire,motivation,time management etc etc is perhaps one of yoga's biggest obstacles. People talk about grace, GOd intervening or proverbially-speaking lending you a helping adjustment if you like basically and specualting if that is an ingredient but you need tapas or effort.Yoga is modelled as a relatviely exacting divine science so i think grace could therfore also be when many conditions are being satisfied.
This is a bug-bear for me btw,practice, like a thorn in my side and i do/have gone through phases now & again..So don't think you're alone. But do whatever you think respect to class , home or both is comfortable and appropriate. Some folk like the group morale and the social aspect etc, the bonus of having a teacher etc.I think you need a home practice if you want to take yoga seriously, i think. If you are rusty then find a nice teacher you may feel comfortable with,respect etc etc.
If you felt a call for a re-assesment of what you could be practicing then of course that is another matter that could be adressed. IF.
Hope this makes sense.