A device for exercising the limbs and torso of the user is disclosed. The device comprises a base, a frame rotatably mounted to the base, a support member rotatably coupled to the frame such that it is rotatable about its longitudinal axis, a flywheel coupled to the support member, and means for rotating the flywheel. As the flywheel rotates, it creates a gyroscopic effect, such that as the operator leans to one side, the precessional torque causes the frame to rotate about the base.