If you want to do bjj for a long time, you have to have some sort of mobility work and stretching at home or its gonna catch up to you, joint pain from submissions can't be helped but joint pain from just wear and tear can be lessened if you always warm up and stretch before and after class....lifting weights and having a extra layer of muscle helps too but then you gotta be careful not hurting yourself lifting too heavy too fast too.. just my two cents, a white belt but wrestled a bit and been doin bjj for a bit now
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