Joint pain is a common problem for many people, especially as they age. However, there are easy exercises you can do to alleviate discomfort and strengthen your knees and joints.

This ten-minute routine is perfect for those short on time while still reaping numerous health benefits.

1. Hamstring Stretch

Start by sitting on the floor with your legs extended straight out in front of you. Reach forward and try to touch your toes. Hold the stretch for 20-30 seconds. Repeat this stretch 2-3 times.

2. Quadriceps Stretch

Stand with your feet shoulder-width apart and your knees slightly bent. Lift your left foot and try to touch your ankle to your buttocks while keeping your right knee slightly bent. Hold the stretch for 20-30 seconds. Repeat with the opposite leg.

Repeat each side 2-3 times.

3. Calf Raise

Stand with your feet shoulder-width apart. Lift yourself up onto your toes as high as possible and slowly lower back down. Repeat 10-15 times.

4. Chair Squats

Stand in front of a sturdy chair with your feet shoulder-width apart. Slowly lower yourself down while keeping your back straight. Touch your buttocks to the chair and stand back up. Repeat 10-15 times.

5. Wall Pushups

Stand about two feet away from a wall with your feet shoulder-width apart. Lean forward and place your hands on the wall. Slowly bend your elbows and lower yourself towards the wall, then push yourself back up. Repeat 10-15 times.

6. Leg Raise

Lie on your back with your legs straight out in front of you. Lift your left leg about six inches off the floor and hold for five seconds. Lower your leg back down and repeat with the opposite leg. Repeat each leg 10-15 times.

7. Hip Rotation

Lie on your back with your knees bent and feet on the floor. Slowly lower your knees to one side and hold for five seconds. Raise your knees back up and lower to the opposite side. Repeat 5-10 times for each side.

8. Ankle Circles

Sit on a chair and lift one leg off the floor. Slowly rotate your ankle in a circle 10-15 times, then switch to the other ankle.

9. Stair Stepping

Find a set of stairs and step up with your right foot, then bring your left foot up to meet it. Step down with your right foot, then your left. Repeat 10-15 times, or as many times as it takes to climb a full set of stairs.

10. Bicycle Exercise

Lie on your back with your legs bent and feet on the floor. Put your hands behind your head, then bring your left elbow towards your right knee while straightening your left leg.

Switch sides and bring your right elbow towards your left knee while straightening your right leg. Repeat 10-15 times on each side.

These ten exercises require only a small amount of time and no equipment, making them easy to incorporate into any daily exercise routine. Practice these exercises regularly to relieve joint pain and improve overall mobility and strength.