Flexibility in Taekwondo is the similar to flexibility in any other athletic endeavor; the ability to fluidly move joints through their full range of motion. Most Martial Artists stretch their muscles, ligaments, and tendons for both the ability to perform physically demanding techniques of self defense, and to prevent injury when an opponent or attacker applies potentially dangerous holds to them which could cause damage if not flexible.
For Taekwondo specifically, flexibility and agility of the leg muscles, and hip sockets is most important since the primary weapon is kicking. While many public demonstrations show the high kicks of Taekwondo, and the increased flexibility aids in this, that is not the main purpose for flexibility in Taekwondo. The real reason for stretching the leg muscles is for longer reach horizontally, and making body level kicks easier to do without strain or resistance from tight muscles. If you can kick head level with ease, then kicking the body, groin or knee should be virtually effortless.
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