First thing in the AM (and other times of the day) I swing my knees without touching the floor on a chair I have that enables me to do that. (If you don't have a chair far enough off the floor sit on a big book) The motion loosens up the joints and makes me walk much easier. While watching TV, I lift my legs to give my thighs more strength. (sometimes I do that before I get out of bed, too)
Strengthening is the most important thing AND keeping limber !
Linda Marie
Another strengthener is put your heel on a chair that makes you leg straight and then lift the knee for a few seconds and the relax. I have done this while laying in bed also. It strengthens the muscles in the back of the leg.
First thing in the AM (and other times of the day) I swing my knees without touching the floor on a chair I have that enables me to do that. (If you don't have a chair far enough off the floor sit on a big book) The motion loosens up the joints and makes me walk much easier. While watching TV, I lift my legs to give my thighs more strength. (sometimes I do that before I get out of bed, too) 
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