For a great foot massage, rub plenty of cream or massage oil into your hand to warm it up. Gently loosen up your feet by shaking them. Sit comfortable either on the floor or on a chair ensuring you can easily reach your feet. Then start to knead the soles of the feet softly, gently increasing the pressure. Using the tips of your fingers make circular movements. Using the thumb put pressure down below the tip of each toe and massage this spot.
Once this area of the feet feels relaxed make the same movements all over the base of your feet. Slowly making your way to the legs and then up to the knees. Then using both hands, move them from your feet to your knees and back again using a light pressure.
To experience the optimal foot massage, ask your partner to do this massage using the instructions highlighted here. Or failing that ask for a reflexology foot massage from a professionally trained masseur.