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Dips require parallel bars to be done correctly.

Starting position- Balance yourself up on a set of parallel bars with your arms straight and knees bent.
Movement- Bend your arms and lower yourself, leaning slightly forward, until your chest is at the same level as your hands. Then push yourself back up to the starting position.

Note- For many people this exercise gets to be a little easy so you can add weight using a special belt with weights hanging off of it.

Picture Source: Getting Stronger by Bill Pearl and Gary T. Moran, Ph.D.