Set up two benches facing each other. Sit on one bench and place your hands beside your hips, gripping the edge. Place your heels on the second bench with your legs fully extended. Lift your hips off the bench so your body is supported by your arms. Slowly lower your body by bending your elbows, keeping them tucked close to your torso, until your arms reach about a 90° angle. Push through your palms to extend your arms and return to the starting position, squeezing your triceps at the top.
Log your bench dip with legs on bench sets in 1RM.fit and watch your estimated 1RM update automatically as you get stronger.