Because they are very large muscles and you use them more. When a small muscle is sore you feel it in one specific spot. When a huge muscle like your glutes are sore you feel it all down your leg and half way up your back.
It’s also because you need to use your legs to get around, they can’t be avoided. When your arms are sore they can just kinda lay there. Imagine if you had to do pushups in order to get off the couch and grab a drink from the fridge. Well, your legs are doing squats every time you get up and down.
With legs, generally you’re doing a lot of compound movements such as squats, deadlifts, press, extensions, etc.
You’re also training pretty large muscle groups compared to parts of your upper body in was that aren’t as “natural” of movements you do on a daily basis and even less so under the strain of weight.
As a byproduct, a lot of these muscles and tendons are “underworked” in the ways you use them that they’re used more, but mostly for walking, standing up, or bending down most of the time whereas your arms and upper body are naturally more accustomed to the compound movements on a regular basis in addition to being smaller muscle groups that soreness is very small and targeted.
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