My guy and I give each other massages all the time.  Sometimes we just walk up behind the other and start rubbing their shoulders, sometimes we massage each other's feet while watching TV, sometimes it's a hug that turns into a mini-massage.

 

Now that the weather is cooling off, we've just started our winter routine...  We both get dry skin in the winter so we massage each other with lotion before bed most nights.  It's a great way to relax and reconnect after a busy day, as well as being good for our skin!