Extension stretch with a partner
Sit on the floor with your leg outstretched, as straight as it will go. Your partner is going to help straighten your leg by pressing down above and below the knee, NOT on the knee itself, see 1st pic below.
(The odd gear I'm wearing is cos I've just finished a bike ride and it was a quick opportunity to get a partner demonstrator and a photographer).
If your leg won't go straight, as shown above, you don't need the book under your heel; it's only when the stretch really starts to work you need it.
Partner presses down VERY GENTLY and increases the pressure; you will feel a fairly sharp pain all along your calf and behind your thighs.
You will (eventually, maybe after weeks and months) get your leg straight, see next picture.
It's not obvious from the pic, but my leg is clear of the carpet for its full length. My exercise partner (daughter, in fact) is pressing gently on the knees. You see here one hand slightly above the knee, one well below it. One hand each side of the kneecap is needed, distance to suit you.
The next pic illustrates negative bend (extension is quoted in degrees, +n degrees is for forward bend, like the 1st pic; 0 degrees is straight; -n degrees is backward bend, the third pic)
Compare pics 2 and 3; look how the ankle is raised by the book, the calf angles downwards, the thigh is flat on the floor. You don't need to do the same, but a backward bend is good, it helps you to be able to 'lock' the knee when standing.
You don't have to have your partner lean right over your other leg, either, we've just done it that way so it's easier to photograph.