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Consult with someone who is an expert in Taekwondo to get the right weights for your height, weight, and experience. Put on the ankle weights after you are dressed in the morning and wear them constantly throughout the day, even when driving, or working if you can. If they become uncomfortable to the point you can't bear it anymore, take them off for a few minutes then put them back on. This will work out your leg muscles and make your legs stronger. Make sure you focus on accuracy of your kick before proceeding to improving speed.
Buy ankle weights from a sporting goods store or department store. Put on a thick pair of socks. Don't practice kicking with weights on; you'll risk serious knee injury if you do! While wearing the weights, practice different leg exercises, such as lateral leg raises, lunges, squats. Practice your kicks as per usual, but without weights! Watch to see that after a few weeks you'll be so much faster at kicking when not wearing your weights that you'll be able to wait on someone to start to kick you, and you'll be able to kick them first.