It is essential, in my view, to develop a daily stretching routine.
It doesn't have to be complicated or involve the range of movement seen in Yoga for it to have benefits.
There are a lot of useful books available. My favourite is Structural Fitness by John Stirk. I'm not sure if it still in print.
Another good one is Xingyi Neigong by Tim Cartmell and Dan Miller. Their translation is priceless.
People often overlook ancillary exercises, not realising just how important they can be. Energy likes to flow through a relaxed body, which stretching can significantly contribute to.