Estimating the stories is a key practice in Scrum Agile methodology. It helps team to take more measurable view about the project and it exposes the understanding towards severity, uncertainty and complexity of the story also.
Before starting the project, team should sit together and need to estimate backlog stories to put into sprint backlog. If there are people with different experience levels, it will be more challenging to estimate stories since they will identify story size in different ways. To solve this issue, there is a small technique like a game called "Planning poker" and according to my opinion it will helps team members to have common estimation that is suitable for all the team members.
And the other hand, it will improve the shared understanding of the user story among the team members because they have to discuss about the user story deeper.
In out project scenario, we had a issue with estimating our stories in last sprint with different experience level people and we got delayed some of our tasks than we expected. Then we discussed and came up with a idea to experiment with the "Planning poker" and test it's productivity.
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If you need a good online tool to help facilitate your planning poker meetings, you should check out Kollabe