I will say that walking is a lot better on your joints compared to running or jogging. You can get the same benefits and results when simply walking, or power-walking as you do by running/jogging without the worry of high impact.
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i just brought walking up because i have about 15 minutes uphill walking a day and an additional 15 minutes walking my dog, so 30 minutes of walking a day should be enough cardio along with heavy weight training yah?