3 mins between each set for 3 sets...so for the endurance sets its the 18 reps total for one set. The strength sets would be 4 min rest (I usually do abs) between the set of 7-10 reps, and that also is for 3 sets. Concentrating on strict form allows me to get away with less sets; that and the fact that my routines concentrate on 3 "whole-body" exercises then specific parts.