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Always warm up to exercising. You can't suddenly jolt a stiff body into a rigorous workout. My doctor has told me that the best time to exercise is at the end of the day, before dinner, when the body is limber and a little fatigued. Begin slowly by swinging arms around in a circle. Do a little jogging in place. Get your circulation going to fuel your muscles. Do your exercises to music. […] As your body gets used to all this unexpected activity you can do each exercise just about as often and as long as you like. But start gently.
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Joan Crawford (My Way of Life)
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Next, do some dynamic stretching specifically to the body parts you will be working on. These could include arm circles, leg swings, trunk circles, bodyweight squats, or lunges. We will explore this further in the Mobility chapter. After the workout, you should do static stretching, which we shall explore further in the flexibility chapter. I also recommend using a foam roller to perform a self-myofascial release massage either pre and/or post workout. This simply involves placing the roller between the muscle group you wish to work and the floor or a wall. You then roll back and forth to apply pressure to the muscle.
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Nick Swettenham (Total Fitness After 40: The 7 Life Changing Foundations You Need for Strength, Health and Motivation in your 40s, 50s, 60s and Beyond)