Here's the scoop...
When the main portion of your workout is finished, your muscles still need attention. Performing a complete foam rolling routine in conjunction with these static stretches will help your muscles heal well and minimize soreness. (You can read all about muscle soreness here.)
After you have thoroughly foam rolled, your muscles are properly prepped to stretch deeply, giving you the chance to work on your flexibility. Find the correct position for each of these stretches, then ease into the stretch, finding your very end range. Some discomfort is okay...just be sure to breathe deeply. A good rule of thumb is to inhale fully, then exhale long and slow, allowing your muscles to release tension during the exhale.
Follow along with the video as your learn the positions. Be very thorough and take the time to achieve a deep stretch.
Disclaimer: This video has a hilarious cameo in the middle. Make sure you watch the whole thing for a good laugh!
1 Passive hamstrings stretch
2 Wall piriformis "figure-4" stretch
3 "Frog" adductor stretch
4 Wall kneeling hip flexor/quad stretch
5 Kneeling upper back stretch
5-6 deep breaths per position