massage

v. rub or knead muscles and joints with hands to stimulate circulation or relaxation, give a massage

n. act of treating the body by rubbing or kneading the muscles or joints to stimulate circulation or relaxation

Massage (derived from the  French massage "friction of kneading," possibly from Arabic massa "to touch, feel, handle" or from Latin massa "mass, dough" ) is a treatment and practice of manipulation of the soft body tissues with physical, functional, i.e. mechanical, medical/therapeutical, and in some cases emotional purposes and goals.
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Massage /mas·sage/ [Fr.] systematic therapeutic friction, stroking, or kneading of the body. cardiac massage intermittent compression of the heart [more]Massage - Community and Resources

Noun
1. kneading and rubbing parts of the body to increase circulation and promote relaxation
(hypernym) treatment
(hyponym) rubdown
Verb
1. manually manipulate (someone's body), usually for medicinal or relaxation purposes; "She rubbed down her child with a sponge"
(synonym) rub down, knead
(hypernym) manipulate
(entail) rub
2. give a massage to; "She massaged his sore back"
(hypernym) treat, care for

n. massage, rubdown, act of treating the body by rubbing or kneading the muscles or joints to stimulate circulation or relaxation