My husband and I are like that. We really are homebodies.
When we want to do something special, we give each other massages. We actually bought a massage table last year as a joint Christmas gift to each other.
Another idea is doing a project together, as long as you don't get frustrated easily with each other. It can be as complicated as building a clock or bookshelf, or as simple as doing a puzzle.
Sometimes we just sit out on the porch after the kids are asleep and just be with each other.
A late dinner and a new movie is always a good idea.