Can you improve your pain tolerance through repetition?

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I think I have a low tolerance for physical pain because as a child I never got sick, or exercised or broke any bones or tore any ligaments while I exericised my brain like a maniac, I never exercised my body. I think I have a very low tolerance for physical pain. This year I got the stomach flu and became so depressed from the illness that I began to wish I was never born. I want to increase my tolerance for physical pain by exericising and going out of my way to do things in the gym that I consider to be painful. It might also prepare me for child birth which everyone says is painful.
Can you improve your pain tolerance through repetition?
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