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In addition to Peter's advice, I find that I need to stretch and strenghten the front of the leg as well.
The gym has a "tibialis" (?) bar that hangs on your feet. Sit on a bench with just your feet hanging over the edge. Put the bar (with wieghts) on your feet and alternately point and pull your feet.
Also, try kneeling, with your feet pointing back. Then, gently sit on your heels. DO THIS WITH CAUTION THE FIRST FEW TIMES -- maybe just the kneeling is enough to stretch the front of the legs.
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