Hilary Duff Says She's 'Learned to Love' Her Legs, Shows Them Off in New Underwear Campaign

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Hilary Duff is learning to love every inch of her body! The 29-year-old Younger star posted an inspirational message to Instagram on Thursday, promoting her new collaboration with Aerie.

WATCH: Hilary Duff Opens Up About 'Serious' Relationship With Ex-Boyfriend Jason Walsh

“I didn't always love my legs, but as I've grown, I've learned to love and celebrate myself, just as I am,” she wrote. “I began to realize that my legs are STRONG and they carry me every. single. day.”

In the pic, Duff is lying on a bed wearing a T-shirt and Aerie undies, kicking her bare legs up in the air.

“Our bodies are amazing and something to be grateful for,” she continued. “I'm ME and that's really enough! Thanks for helping to spread the self love message @Aerie! Make sure to share your own message about why U love U for U Day! #AerieREAL #AeriePartner.”

The actress has always been serious about taking care of her body and staying in shape. In November she split from her personal trainer boyfriend, Jason Walsh, but in her recent cover story for Cosmopolitan, Duff revealed that she took steps to keep focused on fitness during their romance.

MORE: Hilary Duff Makes Red Carpet Debut With New Boyfriend Matthew Koma

"He's like, 'You don't listen to me anymore! I give up!'" she said of how things changed at the gym after they started dating. "I have a different trainer now."

For more details on her split from Walsh, watch the clip below.