Cultivating a personal practice

I've been doing yoga at a studio 1-2 a week for about 6 months. I would like to go more but my schedule doesn't allow for it at the moment. I would like to be able to create a personal practice I could do at home to supplement the classes I take but I find it hard to take the leap to do it. I've only ever done guided flows. How do you plan your practice? Do you just do what feels good in the moment? Do you write it down beforehand and refer to it throughout the session? Also what helps you get in the mindset? Going to a studio helps remove you from your everyday to truly focus but I've found that harder to do at home. Any advice would be appreciated!