My massage therapist gives free lessons to clients with new babies. It wasn't really necessary, it's pretty simple. It's fun, although my baby has always been pretty active, he will only allow it for short periods. He enjoys it, although I wouldn't say it relaxes him. He never liked back massages, but the tummy massaging was always (and still is) really helpful when he gets upset. We've been massaging almost daily for about 4 months. Here's a site that gives pictures as well as instructions
http://www.cyh.com/HealthTopics/HealthTopicDetails.aspx?p=114&np=301&id=1883