This is a great question! Certainly something I wrestle with myself.
I learned that 99% of days, if I don't do Art Time first, I tend to not do it. It's very easy for me to get sucked into cleaning, paperwork, chores, the stuff of life... those things are endless. I try to do art for at least an hour before I move on to check off a Life Thing or two.
As for what Art Time consists of... well, I'll just tell you what I do, and you can take it or leave it.
I usually start with watching some of my current SVS lesson, which is often inspiring and gives me all sorts of good ideas/challenges. (Usually while I have a coffee or eat. Multitasking, lol)
Then, if I haven't already started doodling during the lesson (hehe) I'll start with what I call "drawing drills." I use Pintrest to save art that I like, and then I draw from those for a while. The specific thing I draw varies, but it's very good practice to try to match what you see. I suggest starting with what you like, then adding in things that look challenging. I can't tell you how great it feels to face an image and think "no way I can do that" but then an hour or so later you've been able to copy it. If I start with drawing either from photographic reference, or from my mind, that's when I tend to just do what I usually do, and I don't feel like I'm improving.
Then, I move on to my current project. Sometimes this is a piece I've been asked to do, or other times it's an online challenge/event. Last month it was Inktober, I also like to do Animal Alphabets, and this month I have a small personal project before a bigger project begins in Dec/Jan.
While I work, I like to listen to videos/podcasts like Will Terry or Jake Parker's YouTube videos, since they usually don't need to be watched, just listened to. And music or a book on tape.
I've just been able to get back into my art, and this is the routine I have right now.
The main thing, I think, is to continue working, even if you're not sure what you're doing, or you feel "blocked". Don't be afraid to try a new technique, or make mistakes. I tend to be a perfectionist, so I have to tell myself that I'm filling me sketchbook with only terrible drawings (to get them out of my system haha).
I found twitter to be a great motivator, and the SVS forums are also a great place to post art and ask for feedback. When I worked with other artists, I loved having my co-workers around to ask for critiques.
I also suggest watching Jake Parker's video on YouTube called "You Need a Project, Not a Product" (I think I got that right). He explains what a personal project is, gives ideas, and lays out why having a project is an excellent way to improve.
Hope this helps! I'm very interested in what other people have to say, too.
Keep drawing