I was getting bored with the gym so I asked myself this same question. I wanted to stay away from belts so I looked at either kickboxing, boxing, or Krav Maga. Krav Maga fit my schedule and I can personally attest that it's a great workout. Aggression is the main focus of every class and intensity is pushed to the limit. Expect multiple sets of punching/kicking/elbowing/kneeing pads done at 100% in every class. Lots of fun.

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The best one is the one that you like and will stick with. The idea behind martial arts is supposed to be about using skill to overcome attributes like size, strength, or speed. If you participate in just about any martial art, it will provide you with varying levels of exercise. My own experience is that your drive and love of the art will push you to partipate in other activiities like conditioning and resistance training that can help with your training of that art. I'm partial to Brazilian jiu-jitsu, but won't say that it's a killer workout because that's not the point. There are plenty of fat old guys that can mop the floor with 18 year old studs. That's the point of the art.

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Wrestling is a good base for future fighting styles. Just about every UFC fighter has it as a part of their training. Plus it's one hell of a work out. You work muscles you never knew you had.

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boxing hands down

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throw in a little ashtanga yoga to the mix should hep quite a bit.

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