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Kuryakyn has the same version as the HD type except a bit cheaper. Check out the Tour-tech model which is made to curve around your lowers. Look at the Long-Angled version for your height and you'll be a happy camper like I am. My supplier was Dennis Kirk and the cost for mounts + pegs was about $130.
Position them so you can rest your heels on the floorboards and your toes on the pegs as others have suggested.
I've never tried using the pegs this way. I'm able to have my legs stretched out on the pegs where my heels are up on the pegs, so my legs are stretched out.
So, I guess there are more than one way to enjoy pegs.
I have mine set up so i can ride:
1. Heels on the boards, Toes on the Pegs - Most comfortable for me. Spend 70% of my riding here.
2. Arches on the pegs - good, but lots of wind pushing on my size 12.5 boot.
3. Heels on the pegs - only good for me to stretch the legs out for a few minutes.
4. feet on the boards
5. feet on the passenger pegs - you have to ride a looong way in a day to get to this one.
+1 above that's how I have mine mounted, My highway pegs went on 1/2 hour after I got the bike home best thing if you have bad knees and or a bad back.
On both of my new touring bikes (2010 & 2012) I left the dealer with the highway peg mounts and pegs when I picked up the bike.
On my 2002, I had the highway pegs & mounts at my house before the bike showed up.
I think the highway pegs are a must have if you are going to be on a bike for more than an hour. Hell, I'm stretched out on my highway pegs before I have mile 1 down on any ride. It's just a more comfortable position for me.
Yes get the pegs. My hip will bother me if I don't use the lets me reposition my legs and make for a very comfortable ride. I also added the forward floorboards.
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