I have a key example of self-discipline that I would like to share with you. To me, taking care of things before they become "urgent" requires tremendous self-discipline. Waiting until the last minute to start studying/cramming for a test would suggest a lack of self-discipline. If you are living a disciplined life you might begin studying even when you know the test is not until next week. Another example would be getting ready to go wherever it is that you are going while you still have enough time, so that you are not rushing like a chicken with its head cut off trying to make it on time.
I think we've all been there. I can remember more than a few nights when I was attending Towson University that I stayed up into the wee hours of the morning preparing for a test that I should have been preparing for well in advanced. Sometimes things out of our control cause us to be late or unprepared. Maybe we forgot about the assignment, which might be a separate (but related) issue.
However, in most situations, I believe that we don't really feel a sense of motivation until things become urgent. Most people can bring themselves to study for a test the night before said test. Fewer people will have the discipline to begin studying a week in advance. Yet these are the people that will thrive. Once things become urgent, we have probably already waited too long.
A much better approach would be to do a little bit of studying at a time, well in advance. This will allow our minds to process and understand what we have studied; we will actually learn it! As the test approaches, we can simply review what we have learned, and walk into the classroom full of confidence.