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As we talk our way through the improvisation here, notice that two of the core concepts that we've been hammering away at are at work: thinking ahead and finding common tones. Being aware of the scales for each chord (which we covered in the last lesson) makes it easier to identify - just a hair in advance - which notes will be good to land on in the next chord.

It's kind of like reading music on the page: you're playing one measure but always reading ahead by a bar or two so that you know what's coming. That's what should be happening in your mind as you improvise - you're living in the moment but thinking a little bit ahead too.