Here is a very simple and powerful ritual for grounding with the earth while indoors.
Lie on the floor and relax.
Visualize that your body is sinking into the ground, down, down through all the layers of soil, through the bedrock, down, down to the center of the earth, to the lava that will burn out all of your impurities.
After your “cleaning,” pull your body back up through the earth to the floor. Arise renewed.