Hi, and welcome to aikiweb and back to aikido.
You would be wise to incorporate good warmup and stretching into your routine--before each training session for sure, and on "off days" too if you can-- in order to avoid injuries to your joints.
Warmup should be done BEFORE stretching-- 5 minutes jumping jacks, jogging, exercise bike--anything that gets large muscle groups moving, and raises their temperature so that they are warmer when you start stretching. Stretches should be gone into slowly, without bouncing, and held -- well "experts" vary but 15 seconds seems like a happy medium.
cheers!
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