My husband will offer to let me take a bath, and I get to soak for however long I want, then he will give me a full body massage, with lotion or oils whichever one I want.  He has gotten massage books and read them and practiced so he is really good at this.  He then will massage my body all over, and extra to any places I want him to, and I am so very relaxed after this.  Usually we have candles lit and soft romantic music going.  Then we end up going into a very romantic intimate evening, and it is very wonderful.  I love that time we have to do that, and he loves it because he gets to touch my body all over :).