Warm hands. You can wash your hands thoroughly in hot water beforehand. Ask her where she is tense and start rubbing there. Try light at first then apply more pressure. ALWAYS ask if it's too much pressure. Communication is a good thing here, because some people will just let you keep bruising them out of embarrassment, and then won't ever ask for another massage again. Don't push hard on hard surfaces, be gentle around joints and spine. I'd start on bigger muscles and then work your way down to smaller muscles.
If you have bare skin to rub, and the luxury of privacy, some good rubbing oil or lotion can be helpful. Not good for clothes.
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bill hicks - "I don't mean to sound bitter, cold, or cruel, but I am, so that's how it comes out."
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