There's no secret to getting rid of the internal battle you have about doing exercise.
All you can do is make a schedule of WHEN you'll exercise, know WHAT you'll do beforehand, remove all obstacles beforehand (i.e. set out your clothes the night before), and make it as easy as possible for you to do it when you're at your lowest.
Make it easy on yourself. Don't make a plan for you at your best.
You know the tired, cranky version of yourself who quits? Make it so easy, even that version of you just does it.
Eventually, you might get to that point where the exercise makes you feel good. Even when you don't feel like it, you know that you'll feel better once you've started.
But! Even when you get to that point... starting is still really hard sometimes.
There's no shortcut to removing that internal battle. It's always there.
Don't avoid it or expect it not to happen.
Embrace it. Plan for it.
Aim to win it.