This tip just comes from experience really.
I find that my muscles NEVER ache after I stretch for about 15 minutes after an exercise session. I stretch my legs, arms, back, groin and shoulders, and ankles.
I just assumed everyone stretched! But I was talking to a coworker and she said she never has time, so she just goes through the pain! It also increases your flexibility, because heaps of cardio can shorten muscles and decrease flexibility.
Just thought id put this out there, because ive seen a few posts where people say they are sore after exercise.