Mental preparation is great when it comes to stepping out and doing some adventure sport but also important is what you do before and after to take care of yourself physically.
Before an activity make sure you have proper fuel, meaning make sure your stomach is not empty. Food gives you energy you need if you want to have the steam to go a little further or a little higher. Food is just as important in post, you will have used up some stores but also you have worked your muscles, eating something with high protein (protein shake, meat, nuts, peanut butter, eggs, beans) post workout will not only reduce the pain you may feel the next day it will also help your muscles get stronger. This will make what you did have more effect on your strength in the future.
The next is warming up. If you are going from a long car ride or a day sitting at work, you need to warm your muscles up before you put them to work. Swing your arms about, roll your neck side to side, do a couple jumping jacks, stretch your legs and generally just wake everything up. This will significantly reduce stress on your body and help avoid injury. As important make sure you stretch it out when you are done. If your feet are swollen hit them with some cold water or elevate them to decrease swelling. Take an Epsom salt bath to ease sore muscles. If you have been running or anything else that significantly raises your heart rate, then walk around and keep moving but slower, allowing your heart rate to decrease slowly.
Hydration is also key. Bring a water bottle and use it.
If you take the time to take care of yourself before and after you will have a shorter recovery time, reduce chance of injury, increase mobility and just have an overall better time.
there are facts and then there are emotions. This is as honest as I can be about my struggles and triumphs.