Take a class together! There are many types of classes that give both owners and pups good workouts. We're considering taking Jake to agility training in the spring, since he's so smart and athletic. I also recently started seeing signs around the DC area for Thank Dog Bootcamp - fitness and obedience training combined! If you have the time and funds to commit to a program like this, the benefit to you and your dog could be huge!
For me, the bottom line is that many people go without a simple walk each day, and the number of dogs who go without is probably higher. You can help each other, get some exercise, enjoy your surroundings, and bond in a few minutes a day. And who doesn't want extra puppy cuddles? Because believe me, you'll be getting lots and lots extra once you sweat (or pant!) together :)