Three fixes for Bulgarian split squats: start from the bottom to find your foot position, lower the rear foot support, and lean forward slightly while moving down-and-back instead of straight down. Small adjustments make the movement feel right.
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If you're doing this exercise and no matter what, even if you watch every technique video, you still can never do it right, well, try these 3 things out. They just might help. Number 1, instead of trying to start from the top and not having balance, just put your foot on the bench and start from the bottom. This way you can figure out where your foot feels most comfortable, and then you can just start exercise from there. Second, if you feel like the bench is just too high for you, you can use a lower box, or you could even set up a squat rack and put the barbell to whatever height you want, put your back foot on it, and then do your exercise from here. And number 3, I don't want you to think about going straight down and up. Instead, I want you to get a slight lean forward in your torso and then think about going down and back and then up and forward.