I have noticed lately that during the first 10 minutes or so of a ride, my knees are a bit sore. However, in about ten minutes the soreness goes away. Am I messing up my knees? is this just a normal warmup routine? I have increased my milage and I am just starting to ramp up. Should I be Iceing?

I had read somewhere before that no hard effort should be made until you have already broken a sweat.

Not very scientific but I think it is a good idea. Gotta get a good flow of oxygenated blood into the legs before you hammer them.

I agree with Sam. A good warmup to get everything moving. Stretching pre-ride is also important if your riding requires a lot of physical movement. I try to do both as well as a good cool down