I came to the same realization 6 years ago. After a few weeks of commuting, I kept thinking "why haven't I been doing this all along?" What kept me from bike commuting sooner was the mindset that I had to ride to work the same route that I drove. When I finally started investigating alternatives, I found a route that largely followed neighborhood streets and lightly traveled roads. It was about 2 miles longer than my driving route, but I viewed that as a plus.

One of the big advantages with bike commuting, is the amount of time it frees up if you were previously trying to ride or otherwise work out after work. I used to try to squeeze in rides or go to the YMCA after work, and that would frustrate my wife, who likes to eat dinner right away. Now, all of my exercising is done when I get home from work.