I generally get up around noon(I don't go to sleep until between two and four am usually). I lie in bed for awhile-ten to thirty minutes-and then make myself get up.
There is usually a dog asleep on or near my legs so I'll sit up and pet him for a minutes, then get out of bed.

When I don't feel well, or I just decide I want to sleep later(like on a weekend)I'll go back to sleep and repeat the same process, only an hour or so later.

Sometimes I'll actually wake up around nine or ten am, and it will be that I could get up and be awake enough, or I could go back to sleep. So far, I've always gone back to sleep. I can't help it, I'm a sleep person.