I do physical work for a living, (something your Rebbe might asser) and that keeps me in fairly good shape. Were I not to, or if I retired from it, my recipe would include body-weight exercises, yoga like stretching, and some minimal of any martial art, which teaches you to fall softly. Aerobic is part of every day. IMHO, it is all a kiyum of the positive commandment to preserve and be watchful of your health. None of this requires a gym or any public activity. If you are a softie, maybe a floor mat is the big investment.
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