Sit down perpendicular to a wall, legs length away from the wall. Put your feet flat against the wall, straighten your legs, and reach your hands towards your feet as much as possible. (You might not go past straightening your legs at first). Breathe deeply. Count to 20 slowly. Lean back, relax, repeat a few more times. Do this daily until you can touch your toes. You shouldn't feel a ton of pain... Just a lot of uncomfortable tightness.
There are other stretching exercises you can look up... For example http://www.mayoclinic.com/health/stretching/SM00043
The one I described specifically helps with touching your toes. It is helpful to stretch before and after exercises. If you don't exercise daily you should do either a morning 5 min stretch session or a night one before going to bed to improve and retain flexibility.
I usually do ballistic stretches at the gym before/during workout and static ones after workout. I also do static stretches at home when I am stressed and/or bored.
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