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I really need to get in shape but equipment seems so complicated (and expensive)
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If you really want to maximize your strength and endurance building, I would not rule out free weights from your regimen. I am not sure what your experience is with free weights, but the movements, although sometimes challenging at first, become very manageable. If you have access to a gym you can save some $ (although dumbells at home are very useful.) At the same time, seeing regular faces at the gym, for me at least, makes returning a regular and easy thing.