Abstract: Rehabilitation method of a patient by constraining part of an impaired limb of a patient to part of a corresponding unimpaired limb of the same patient. This is done to cause the impaired and unimpaired limbs of the patient to remain symmetrically disposed. The constrained parts of the unimpaired and impaired limbs are then moved together, relative to the trunk of the patient by the muscles of the patient. The movement may be performed repetitively in series of identical repetitions, and the movement may be repeated more than one hundred times daily. The legs of the patient may be rehabilitated in this way, and the limbs may be constrained with a rehabilitative device.A rehabilitation device that includes a left cuff to receive a left limb of a patient, and a right cuff to receive a right limb of the same patient. The right cuff is rigidly attached to the left cuff. The cuffs include constraining surfaces to prevent longitudinal and lateral motion of the limbs with respect to the cuffs.