Burrow deep into the planet.
Attach big thrusters on equator, 100 km+ tall structures that dump propellant (matter from the planet in significant quantities) into space at really high speeds. The higher the speed, the better the impulse, of course.
First, adjust planetary velocity as required to keep at suitable distance from the Sun while it expands. This should extend the useable life time of our planet some, but we'll need to conserve quite a bit of propellant for the Big Trip, too - the one that we'll have to make once the Sun shrinks into a black dwarf that only radiates residual heat.
Once that time comes, we'll have to see if there are any other possible means of survival available.
Geothermal heat should provide sufficient energy reserves for a viable human population living underground. There'll be a temperature gradient between deeper and higher, which can be used to power thermal cycle, and that's really all you need to run a turbine.
Obviously, a planet will travel quite slowly, but it WILL be able to support life long after the Sun dies, provided there's not catastrophic impact event of some sort. The biggest problem, really, is propulsion even at slightest scale, since the energy and propellant requirements are, frankly, quite insane. However, if we can avoid getting swallowed by the expanding Sun, then humanity will be able to survive within Earth for quite a while. If the propulsion problem is solved, then it's just a matter of time to float to another suitable star, which will ideally melt all the frozen water, nitrogen, oxygen and other stuff that basically rains down when the atmosphere cools down sufficiently, and the atmosphere will form again.
Of course, seeds of aquatic and other life would need to be maintained underwater, which might provide unique challenges, but hey, if we can ever figure out how to move an entire planet through space, I'd say that's the least of our worries.
Needless to say, this kind of space travel would take long, long, long time to get anywhere.
But, if you consider the viability of life underground, it's not that far-fetched after all.
In fact, now that I think of it, there may be countless wandering burrowing civilizations... making them, quite literally, planetary in the original meaning of the word.
The idea does hold some appeal. Technically, we could even convert the planet into some kind of megaengineered space station - some could argue that this happens as soon as the propulsion system is constructed. Some sort of relativistic matter ejectors would probably do the trick... problem would be energy to drive them, and matter to eject.
Coincidentally, these propulsion systems would double as extremely formidable weaponry.