When I go hiking, I take a couple of active steps to avoid sore muscles. This mostly consists of stretching and hydration.
A little into the hike, generally shortly after the first long incline, I stop and stretch. So, I warm up a bit, then stretch. Hamstring and quads are the minimum.
Throughout the hike, I hydrate. I seem to drink about a liter every 2 hours, or a liter an hour on hot days.
At the end of the hike, I repeat the stretches. Always stretch out before hopping in the car. I'll often stretch again about an hour later, because that's when I find that things start to stiffen up.
If you already hurt, don't stretch. It's too late for that. Stay hydrated and consume your anti-inflammatory of choice. If the pain lingers for more than a day or two, see your doctor.
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