I've found that getting a good sleep on the Sunday night and doing a pre-work workout (weights, yoga, etc.) in the morning really helps with this. Also, if possible, riding a bike to work. That, however, depends on the time of year.
I really find the Withings Aura alarm clock to be useful. It gradually wakes you up with a light as opposed to making you jump with a typical alarm. Both my fiancée and I agree that we feel better when woken like this but I guess, like most thing, it's a personal thing.