Start small and build with any exercise...walking, hiking, running, biking, swimming, resistance training, yoga, barre, pilates, etc!
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The FITT principle provides a great method for increasing your endurance. Here is some information: https://www.webmd.com/fitness-exercise/guide/boost-exercise-routine#1
Endurance can also be a mental game as well. You can almost always go another minute or two before slowing down or stopping (unless you are in pain.) Having a mantra can often help in these situations. Music can also be a great encourager. Tell yourself you will keep going until the current song is over.
Over time the additional minutes and intensity will add up and endurance will increase!