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This is the optimum amount of time to hold each stretch. Any less, you won't gain anything from it and any more, there will be no extra benefits.
Breathe out for 5 seconds as you sink into each stretch - this will help your muscles relax and become pliable.
Instead of having a rest day, have a stretch session. This will help to reduce stiffness and improve your flexibility, helping you to feel fresh heading into your next workout.