Either way, some kind of muscle stretching is essential, remember that running and jogging only tighten the muscles, whereas walking and stretching exercises help to loosen and lengthen them. Even walking faster and taking bigger strides than most people are in the habit of doing can produce benefits in this regard. Otherwise warmup exercises to loosen the muscles before jogging are the way to go if you want to continue doing it. Tight muscles just aggravate joint strain. You may get muscle damage too which leads to reduced flexibility, hence further problems in future.