Maybe Elvis Was on to Something: Pelvic Control
If you have control of your pelvis, your sexual organs will function more creatively and dynamically. Sit-ups, crunches, leg raises, and similar exercises will strengthen the muscles of the abdomen and lower back. More to the point, I advise working on the flexibility of the pelvic region itself.
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For more information on prostate and other urologic cancers, read The Ultimate Guide to Male Sexual Health: How to Stay Vital at Any Age.