When pain is an issue, IF it is not caused by joint deterioration, deep tissue message is in order. It is famous with athletes, but seniors who have developed a problem in muscles because of favoring a leg, or overdoing some activity, can also benefit.
Me wife bought a small trampolene to try to loosen up joints and move toxins out of joints. The idea is great, but she overdid it some. The result was that old pain went away, and new leg pain in muscles developed. This message is what I am using to try to loosen up contracted muscles.
Do not go so far that pain is felt. This means starting with a very light pressure. Increase it over time at the rate the pain recedes. Keep walking. Keep your head up. Use a walking or hiding stick so you are not frightened of looking down. If you walk on the farm, like we do, beware of looking down all the time to not step in chicken manure. Have a pair of shoes you can leave at the door so you don't dread the de-manuring routine.
Walk tall, do not favor one leg, which means walk slow to minimize pain.
Here is deep tissue massage.
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How to Give a Deep Tissue Leg Massage -- powered by ehow