I prefer dynamic warm-ups prior to working out.  Mine use continuous movement to transition from a resting heart rate and body temperature to a working heart rate. 

Eventually elevating an athlete’s core temperature causing them to break a sweat.  

The warm up should also progress from low to higher levels of complexity.  By developing flexibility and coordination the dynamic warm up will improve elasticity of muscles, tendons, ligaments and range of motion around your joints.  

I also recommend some soft tissue work as needed.  Like foam rolling, LAX balls, etc.