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ACSM recommends stretching the major muscle groups at least 2–3 days/week, with at least 4 repetitions held 10–30 seconds each.
From the American College of Sports Medicine recommendations for healthy adults (exercise to develop and maintain muscular strength and endurance, flexibility, and body composition):
Flexibility training: Stretches for the major muscle groups should be performed a minimum of 2–3 days per week; at least 4 repetitions, held for 10–30 seconds, should be completed.
A related general flexibility prescription (Musculoskeletal Conditioning, p. 216) gives:
That page also notes the warm-up should include light activity to raise heart rate and internal body temperature, followed by flexibility exercises stretching the musculature around the major skeletal joints; attempting to stretch a cold muscle can be dangerous to the surrounding soft tissue.
Educational content only — not medical advice. Always consult a qualified professional for individualized guidance, especially around injury, pregnancy, or medical conditions.