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Step one: have a couch or ledge nearby to prop your back leg up.
From there, Ellie told us to "stand in front of your couch [or ledge, bench, etc.], feet hip-width apart. Step your right leg back onto couch, with your hips squared and shoulders over hips. Inhale, bending your left knee to 90 degrees, and then exhale drive through the heel of your left leg to stand. Repeat on both sides."
Muscles targeted: glutes, quads, obliques, and postural muscles