Damn it, meant to add this as an answer, not as a comment!
Two ways: You can "prepare" for something. You can "get ready" for something.
I got ready to run!
I prepared (myself) to run! (Not sure if 'myself' is really necessary, that's just how I've always used it)
The difference is only that "to get ready" is more casual.
-Present-
I get ready to run.
I prepare (myself) to run.
-Past-
I got ready to run.
I prepared (myself) to run.
-Future-
I will get ready to urn.
I will prepare myself to run.