Here is an article on eHow.com to relieve stress with massage:
http://www.ehow.com/how_4684302_give-stress-relief-massage.html
Use oils that aren't based off of nuts (you never can tell who is allergic). I would recommend grape seed oil. Warm the lotion in your hands before applying it.
For a massage with skin NOT exposed, warm your hands and make deliberate compressions on the sore, stressed areas. You can also take a silky cloth and press deeper with it on the person's clothes, gliding it over the clothes.