You need to work on the conditioning, strengthening and flexibility in the legs and body, as well as the aerobic cardiovascular work-out. If you have a typical class, you generally do this for a while before you actually do any techniques. I think we used to do 45 minutes of warm-up before we started ginga.
Of course you also need to practice each kick. The more you practice the better you will be and straighter. Higher will depend a lot on your flexibility.
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