A dip station or dip bars will allow you to follow the later stages of the dip progression.
The one pictured here folds flat and locks for under-bed storage and makes an ideal home station. It is available at
Here are a couple of alternatives however which will allow you to get started with dips:
Parallel bar dips can be performed between the backs of two chairs. Make
sure these are sturdy enough to support your weight, and keep your feet
off the floor by bending your legs as illustrated.
Parallel bar dips can also be performed between two tables, or two flat
surfaces of the same height. Simply place your hands flat on the
surface, and keep your feet off the floor when dipping.