A humerus-stabilized shoulder stretching device including a first rod, gripping handle coupled to the first rod, force handle, and stationary arm having a first portion and a second portion oriented relative to each other by an angle. The first portion of the stationary arm is coupled to the gripping handle by the first rod and the force handle is coupled to stationary arm via the second portion. An elbow cradle having a base coupled to the stationary arm is configured to accommodate a user's arm such that when the user's elbow is within the elbow cradle and the user grips the gripping handle with the hand of that arm, the user's forearm will be releasably constrained between the gripping handle and the elbow cradle and the distance between the base and the gripping handle will be maintained by the first rod at a length approximately equal to the user's forearm.