Live below your means. Live frugally. Save (we started at 40/41 when we had just paid off our house...goal was 39/40, missed by a year). Invest wisely...vanguard is one of the lowest fees.
When you buy a car run it until it is pretty beat but take care of it and do all the maintenance as needed. Hubby is diy guy so that has saved us tons of money. I help him where possible with painting, staining, sanding, etc.
Get a government job or one with some sort of retirement.
Save, save, save. yeah, people are going to think your weird.
We get all the time: "Oh, I couldn't live like that!" We just had priorities. Took our kids to Europe twice for a month at a go. Had a vacation every year including two Disney ones (frugally as we could make it).