Not much to ask, is it (cats do it so well)?
Get out of bed and stand tall.
Raise your arms above your head and slowly roll your head and neck down, lowering your arms as you go.
Let your upper body drop as far down as is comfortable, keeping legs straight.
Breathe slowly and on every out breath try to lower your hands further down your legs to the floor.
Don’t bounce or force yourself.
Stay in the stretch for a minute and let the blood flow to your head. Now slowly unfurl, one vertebra at a time, until you are upright.
From Good Housekeeping magazine, January 2015