"When I exercise, I need to connect to myself and see how I'm feeling at the moment, because my mood is constantly changing," Kate Hudson explains in her June cover interview.

Her MO: Be totally fine with doing it on the fly. "Some people need structure and a regimen, but I'm not a planner," says the free-spirited 37-year-old actress, mom of two boys, author of the recent book Pretty Happy: Healthy Ways to Love Your Body (here are six things we learned about self-love from her book!) and cofounder of the Fabletics activewear line, which just launched a swimsuit collection.

Figuring out what really works for her physically and emotionally—and just as important, what doesn't—has been a lifelong journey, and as Kate will tell you, she has tried about a billion different workouts along the way. Today, she's finally landed on a listen-to-your-body and stay-motivated philosophy that has gotten her the best results of her life. Live and learn! Here, she walks us down her (sometimes bumpy) workout road.

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