It depends on what type of sentence you're trying to say with it because "Para comenzar mi rutina" in english is it'd be "To start my routine". So if you would use "Para comenzar mi rutina" I'd say it's best to use it if you're gonna say like what you do to start your routine. But if you wouldn't use "Para" and make it just "comenzar mi rutina" it'd mean start my routine. I'd say if you are using it to ask a question that'd be the best use because it'd make sense. Like in English, can you help me to start my routine? In Spanish it'd be ¿Me pueden ayudar a comenzar mi rutina?