Any surface that gives a bit is fine. I prefer hardwood floors or rubber mats. And never jump more than 9 minutes at a time. I found out quick. Always stretch before and after.
Consistency is the most important but most neglected part of fitness.
A common barrier to fitness is lack of time. Breaking down your walk into shorter sessions can break that barrier. If you walk for only 20 minutes, though, be sure to walk briskly to raise your heart rate. Over time, you will naturally increase intensity or time. Cramming longer, less frequent workouts into your life can lead to soreness, tight muscles and poor circulation.