After a night in bed with reasonably no movement we do our muscles the greatest service if we gently stretch them before rising. Your cat and dog do it after napping in the sun, so why not us? It helps to get the blood moving and lengthen out the tight bits which all aids in the prevention of injuries.
So here goes...
Our aim is to start at the toes and work our way up the body to the head. All stretching should be held for the count of 20 and done to a point of tension but not pain. Better to take it slowly rather than to tear a cold muscle. By doing it everyday you will discover over time that you are actually stretching further and further, but without injury.
Pull your toes back as far as possible and then down as far as possible, finally circling round and round in both directions to stretch your ankles and calf muscles.

Using the sheet stretch your hamstring. If you experience any pain in the lower back then raise the other knee rather than having the leg extended flat on the bed. The further towards your toes that the sheet pulls from will increase the stretch into the calf and feet muscles. Good length of hamstring muscles is to be able to have the leg vertical.
Next we stretch our glute muscles (big muscles in our backside) by crossing one leg over the knee of the other leg. Then raise the supporting knee and bring towards your chest as far as you are able. Be careful not to arch your back or your neck. This is a small movement stretch rather than a large all-the-way-to-your-chest stretch.
The last big muscles in our leg are the quads in the front of the thigh. Lying on your side, reach back and grab your ankle and pull towards your backside. The aim is to have ankle and backside touch with your body in a straight line. The 'pull' should be felt in the front of the thigh.
Rolling out of bed onto the floor, kneel on the right knee and place left foot out in front forming right angle. Push forward through hips feeling a stretch to the upper thigh in the front and often into the front of the hip as well. Repeat for the opposite side.

Now just like your cat or dog we need to stretch the spine and attached muscles, so get on all fours and arch the back both rounded up and down.
The upper body requires a good stretch, so begin by stretching your arms back as far as possible so as to stretch your pecs which are across the front of your chest. This stretch will particularly be felt around the front of the shoulder joint and outside front of the chest.
Our final stretch is to our neck. Holding our shoulders down and back turn your head as far as possible in both directions aiming to get the shoulder vertically over your shoulder. Go back to head straight up and forward. Lastly take your ear to your shoulder on both sides.
Although this may seem like quite a few stretches to remember, the sequence will come very quickly after a few days and your muscles will be beginning to give a sigh of relief. So don't give up...you'll be looking forward to that extra five minutes you can honestly crib.
ENJOY!