Practice with your friends!

I feel like I have a bit of a cool thing going on when I'm on the cycle-i have someone who is my belt rank to practice with when I need to.  Self defense are more fun to do and I feel I learn a lot more when you can go up to someone in your house and say "hey, throw a punch at me, I want to do X" and they a)know why you want them to throw a punch, b) they won't actually land it, c) they can give you immediate feedback on how you did, and d) they usually ask you to punch them back.  It also helps keep you on track and accountable when you might be tempted to skip it and make up time the next day, because if they walk up and say "hey, do forms with me", "time my kicks", or "let me toss you across the room", you get up and let them toss you across the room.