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Bridge pose is an inversion I often introduce toward the end of a flow class once everyone is really warmed up. It's a class favorite because the foundation is accessible to most people. Those who struggle with the full expression of the pose are usually dealing with really tight chests and/or hip flexors, so if you're one of those people give yoga video for chest a try and work in this yoga pose for hip flexors and see if that helps.
While the foundation may be really accessible to people, I still see a number of common alignment issues, so I wanted to point them out here and hopefully prevent an injury or two. :) The biggest tip I can offer is to roll onto the side of the arms and you draw the shoulder blades together. This makes room for the chest to be able to lift up. Think about having opposing energy - so you want to feel a continual lift in the chest, but keep pressing the arms and hands down toward the mat.
Also, watch the knees! Splaying them out to the side or allowing them to tip inward can put a strain on the knees which is obviously the last thing we want.
Let's talk Is this pose in your practice? Do you struggle with it? Any poses you want more info on?