I set an alarm on my phone for quite early in the morning (about 7am). I fall back asleep really easily, so I just wake up, take the pill (which is on my dressing table so I don't have to get up) and go back to sleep.
Set a phone alarm for any time that you're always at home. Or you could keep your pill in your handbag and take it at lunchtime? You don't need to take it at exactly the same time, you do have a 12 hour safety net if you forget in the morning. It's just easier to get into a routine, so it's less likely you'll forget.