Out of all the popular push-up modifications, experts agree that this version is the easiest starting point that still targets the same muscles.

The push-up is a basic exercise that almost everyone has done—or at least tried to. Push-ups can be done with minimal space and zero equipment, making it a popular and effective bodyweight move.

It took me almost ten years to nail a full push up. With help from expert trainers, here’s what actually made the difference.