Gentle stretching such as raising one arm while crossing a leg and bending to the side is a great starting warm up. The trick is to avoid bouncing and to go slowly while continuing to move.
Most stretches when held are actually causing muscles to fire and contract. The best stretches continue to move through a range of motion.
Remember to breathe...
Walking on a treadmill or riding a stationary bike for a few minutes will help to warm up your muscles and joints. You can walk in place or walk outside as well.
Here is an example of some movement prep exercises that incorporate the whole body. Note that you can get your entire body into these exercises and that they are dynamic with weight bearing on your arms and legs. I would recommend going more slowly than the examples provided.