Rear leg

Hip:

Begin with your dog laying on their side, have your dog lay next to your knee (like the video) to stabilize the lower back then place one hand above the stifle and slowly flex and extend the hip joint. Only move the joint within your dog’s comfortable range.
 

Stifle (knee):

Begin with your dog laying on their side, place one hand above the stifle to stabilize the leg, then place your other hand at the hock and slowly flex and extend the stifle joint. Only move the joint within your dog’s comfortable range.
 

Hock (ankle):

Begin with your dog laying with the slightly knee bent, place your hands on either side of the hock joint and slowly flex and extend. Only move the joint within your dog’s comfortable range.
 

Front leg

Shoulder:

Begin with your dog laying on their side, place one hand above the shoulder to stabilize then take your other hand to the elbow to flex and extend the shoulder.
 

Elbow:

Begin with your dog laying on their side, place one hand behind the elbow to stabilize then take your other hand below the elbow to flex and extend the joint.

Carpus (wrist):

Begin with your dog laying on their side, grasp the leg above the carpus to stabilize take your other hand below the carpus to flex and extend the joint.