Discipline is freedom. This might sound contrary to some people’s beliefs because often discipline is thought of as regimented, boring and routine. All this might be true about discipline, but it’s in the routine where the freedom is buried. For example, if you’re trying to eat healthy then having the same healthy meals scheduled for the majority of your week allows you to deviate when you want to or need too. Having a consistent workout schedule that you abide by allows you to maintain a healthy lifestyle without having to overthink it. Applying discipline in the major areas of your life is akin to an autopilot which then gives you the freedom to enjoy when you so desire.
The one addition I have to maintaining schedules and routines is that you should remember to evaluate them on a regular basis to ensure that they are in fact enhancing your life.