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Here is another version of leg lift. This would be a progression from using some fixed point: such as a dip bar or between two solid objects.
Focus on keeping your core tight, legs straight and arms locked off at 90 degrees.
Raise your legs to your waist or above and then back to just before.
Focus on being under control and attempt to not allow your legs to hang freely below you at any time.
It is also important to not go so quickly with the movement that you are not under control.
Focus on good form and determine a proper number for you to repeat in about 3 sets.
How does this apply to your climbing?
If you are climbing any kind of overhanging terrain and your feet cut, you will have to get them back on the wall while maintaining control. This will assist you in that process.