Frankly, i disagree that you should train for endurance. Train for strength. Lift heavy sets of 4-6 reps with the big compound lifts with freeweights, like back squat, bench press, deadlift, and overhead press. Join a gym if you need access to a barbell, or consider building a power rack for home if you have the room and money.
Here's why I think this is a good idea:
1. You will get much stronger. You will be able to see the progress on your lifts, and that is very important for motivation.
2. The muscle adaptation from strength training is useful if you ever decide to switch training types. For example, if you decide to start doing isolation-type exercises in the hypertrophy rep range (training for mass/size, 8-12 reps per set generally), the increased muscle fibre activation from strength training will help you progress more efficiently.
3. The muscle adaptation from strength training is useful day-to-day. An awkward 80lb box is much more manageable when you have a 300lb + deadlift (and the accompanying grip strength). A heavy pack is not so heavy when you can squat 225lbs easily. (These are light weights for an experienced lifter)
4. You will look better. Your core will become tighter, your chest will become defined, and you will look athletic. You won't look like a bodybuilder, but you'll look good. Frankly, you'll look better than you would if you did endurance training, and you'll actually be able to lift some heavy ass weights too, which is cool (in my opinion).
Look up the book Starting Strength by Mark Rippetoe. It's got a good routine for a beginner, and it contains a lot of knowledge on the anatomy and form of the lifts you need to know. Learn all the lifts in that program, and tack on three sets of pullups and dips (to failure) after each training session.
All of this is just my advice. Do your own research and make your own mind up, but PLEASE don't avoid strength training just because the lifts are scary and you have to learn difficult things. You won't regret it.