Even when we hang from a pull-up bar, our hands and wrists play an important role.
For this reason, it is important to warm them up properly before your calisthenics or handbalancing practice.
In the video below, I demonstrate six simple warm-ups you can perform for your hands and wrists before beginning your practice:
I recommend performing each of these movements several times in each direction before beginning your training. Also feel free to perform additional reps while you rest in between efforts.
The exercises in the video go by fairly quickly, so you may need to watch it a few times.