There’s a pervasive mentality in the fitness world that the best workouts leave you soaked in sweat and gasping for air. Popular phrases like “no pain, no gain” and “sore today, strong tomorrow” embody this pedal-to-the-metal mindset.

While there are legit benefits to exercising at or near maximum effort, “you don’t have to work at a 10 out of 10, or have it be the hardest workout of your life, for it to actually be beneficial,” Peloton instructor Rebecca Kennedy tells SELF. In fact, there are tons of unique gains you can score when you incorporate more low-to-moderate-intensity training into your routine. That’s what zone 2 cardio is all about.

Here’s everything you need to know about zone 2 cardio, including its amazing benefits and easy ways to weave it into your schedule. Plus, eight workout examples that fit the bill for zone 2, giving you ample options to experience the underrated awesomeness yourself.

What zone 2 cardio actually is

Simply put, zone 2 cardio is any form of movement that has you working at a low-to-moderate intensity for a sustained period of time, Grace Horan, MS, ACSM-EP, an exercise physiologist at Hospital for Special Surgery in New York City, tells SELF.

Zone 2 cardio is not about speed, power, or max strength but instead centers on slow, steady efforts performed over the long haul. Basically, it’s endurance training, Horan says.

Traditionally, zone 2 is defined as exercise that keeps your heart rate between 60% to 70% of its maximum level, but this is a generalization; for some people, zone 2 can happen at different percentages of max heart rate, Horan says. It’s better to think of it in terms of how intense exercise feels and how much it impacts your breathing. As Kennedy puts it: “If you can get on a phone call and have a conversation without having to stop and catch your breath, you’re likely in zone 2.”

Benefits of zone 2 cardio

Incorporating zone 2 cardio into your routine will deliver a host of health and fitness benefits. For starters, it helps your cardiovascular system run more efficiently. That’s in part because zone 2 training increases the size and density of mitochondria in your muscle cells, Horan says.

As you might remember from middle school biology, mitochondria are the “powerhouse” part of your cells that produce energy to fuel your movements. Beefing them up will help your body complete both workouts and tasks of daily living (like climbing the stairs and walking your dog) with less stress to your heart, lungs, and muscles, Horan says. Overall, people with larger and more dense mitochondria are more likely to have better cardiovascular fitness and metabolic health, she adds.

Zone 2 training also helps improve your body’s ability to burn fat (in addition to its go-to quick energy source, carbs) as fuel. This allows you to keep exercising for longer. “It’s really going to help build out your endurance and your aerobic base so you can do things for the long haul,” Horan says. That’s why zone 2 training is a core component of marathon training programs.

At the same time, frequently training with zone 2 cardio can also benefit you during higher-intensity exercise, like weightlifting or HIIT workouts. Specifically, you may notice that your heart rate comes back down quicker when you’re resting in between sets, Kennedy says. This translates to more efficient recovery intervals, allowing you to push harder again when it’s time to eke out the next round of reps.

How to know if a workout qualifies as zone 2

Many fitness wearables—like the Apple Watch, for example—use heart rate data to classify which zone(s) your workout falls into. And while these devices do a “relatively good job” at determining the zone, they’re based off a mathematical equation that’s not wholly accurate, Horan says. (The most precise way to measure your maximum heart rate is through a blood lactate test, which, obviously, most people aren’t doing.)

To actually understand if a given workout qualifies as zone 2, she suggests a simpler approach: Pay attention to your breathing and ability to talk. In a true zone 2 workout, “if you were to get on the phone with someone, they might know that you’re exercising, but you can still speak in paragraphs, no problem,” Horan says. If at any time during a zone 2 workout you can only get out a word or sentence at a time, it’s likely you’ve jumped up to zones 3 or 4 and need to decrease your intensity to return to zone 2, she says.

Another way to think about it is perceived exertion—basically, how hard it feels like you’re working. On a scale of 1 to 10, with one being almost effortless and 10 being max effort, a zone 2 workout should feel like a level 3 or 4, Kennedy says.

Lastly, you can evaluate how sustainable your pace feels. “Ask yourself: Could I sustain the pace that I’m going at for 30, 45, or 60-plus minutes without having to slow down?” Kennedy says. If the answer is yes, then you’re likely nailing zone 2.

Eight workouts to incorporate more zone 2 cardio into your routine

To really cash in on the benefits of zone 2 cardio, make sure each workout is at least 30 minutes long, Horan says. If your schedule allows, she suggests doing 60-minute (or longer) sessions at least twice a week, though three to four weekly sessions would be ideal. “The more time you’re able to spend continuously in zone 2, the better,” Horan explains.

The best zone 2 workouts are the ones you genuinely enjoy, because that means you’ll be most likely to do them consistently, Horan explains. Need some inspo? Here are eight examples that can fit the bill. They key with all of these is to keep close tabs on your exertion. For them to qualify as zone 2, make sure you’re staying at that level 3 or 4 and able to easily carry on a conversation the whole time.

1. Walking. Taking a brisk walk on the treadmill or outdoors is perhaps the simplest way to check zone 2 cardio off your list.
2. Jogging or easy running. This one is more for experienced exercisers who have the baseline fitness to sustain low effort while running. (For people newer to working it, the running motion–which involves the challenge of the “float phase,” where both feet briefly leave the ground–may inherently be high-intensity, no matter how “easy” they try to stride.)
3. Rowing. Hop on this cardio machine to get some zone 2 work, as well as a ton of other full-body benefits, like improved coordination and great core activation, to name a few.
4. Climbing stairs. The stairclimber machine at the gym can be surprisingly challenging, so you’ll probably need to take it at a pretty slow speed to ensure you stay in zone 2.
5. Cycling. Whether you’re outdoors or on a stationary bike, cycling is a great low-impact form of exercise that can also double as zone 2.
6. Hiking. This is a great way to reap the benefits of nature while also getting in some zone 2. Just make sure to slow your pace if you’re trekking on an incline to keep your effort level in check.
7. Swimming. Another stellar choice for low-impact zone 2 work, swimming is also great for strengthening your core and activating a bunch of different muscles. Check out these tips for getting started.
8. Very light weight lifting. Weight lifting in general typically qualifies as anaerobic exercise (which is too intense to meet the zone 2 criteria) but if you pick really light weights, perform exercises for high rep counts, and take minimal recovery, you may be able to meet the mark for zone 2, Kennedy says.

Original article appeared in Self