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Start by walking or jogging for five minutes, then stretching the areas where your pinched nerves gives you pain. Engage in slow, gentle stretches -- do not bounce or stretch to the point of pain. Also take steps to maintain good form while you exercise.
Your question on the surface seems simple but in fact its very complex, you see you can have a pinched nerve in your butt, which will cause you to walk differently which will telegraph all the way up your spine, cause you to drop down one shoulder, put your head to the other side, and wha-lah you now magically have headaches.