When you do something as part of your usual routine, you do it habitually. If you put on your favorite blue sneakers just about every day, those are the shoes you habitually wear.
A teacher who's known for his bad mood may frown habitually, while a friend who habitually stays up too late might yawn habitually. Anything that happens on a regular, recurring basis happens habitually. This adverb comes from the Medieval Latin habitualis, "pertaining to habit or dress," and its root habitus, "condition, appearance, or dress."