A sexy massage session with your partner is a wonderful way to explore physical and emotional intimacy – and it's a pretty simple way to pamper your partner.

Not only will he or she enjoy the soothing and sensual touch of your hands roaming gently over their body, but you'll also take pleasure in getting to know their favorite spots and even turning them on so much that they'll be happy to thank you for it.

Creating this sexy, comforting space for the first time can be a little intimidating, but all it takes is confidence to discover how to give a sensual massage that you and your partner will both thoroughly enjoy.

Here are our top tips for mastering the erotic massage your partner will beg for again and again.

Sensual massages start with the mood

Dim the lights, light the candles and let the magic begin.

Ceiling lights can really dampen the mood – it's hard for anyone to feel sexy in the wrong lighting. Try turning on a dimmed bulb or moving the lamp to a different spot in the room (even the floor) to create a comfortable darkness where you can truly come alive.

Candles can even provide sufficient lighting or contribute to the pure romance of a couples massage. Just beware of conflicting scents, fire hazards, and excessive heat.

Speaking of heat, make sure your thermostat is set to the perfect temperature well in advance so it has time to adjust. You and your partner will likely be wearing little to no clothing, and you don't want them grabbing a blanket halfway through.

Finally, the playlist is crucial. You can choose more relaxing music, like rainforest sounds or classical music, or you can choose a sexy playlist with a lo-vibe vibe or your partner's favorite slow songs.

Dress for an erotic mood

You feel sexier when you look sexy, so dress in your favorite lingerie and nightwear to exude confidence. Whether you choose a short black silk dress, a lace bra and panties, or nothing at all, you're guaranteed an evening of pleasure while giving your partner a sensual and erotic massage.

Use warm massage oil

Massage oils make it easier for your hands to glide over your partner's body. There's nothing worse than being naked and someone applying cold lotion or massage oil to your back because they didn't even have the courtesy to warm it up in their hands first.

Prevent cold shock by using warm massage oil during a massage. You can drip it directly onto your partner's back without worrying about startling them, and as you move your hands over it, it warms up wherever you touch. Your partner will surely love feeling your warm hands glide smoothly over their body as you use the massage oil.

Discover new areas

An erotic massage is the perfect opportunity for adventure. If your partner has asked you to try something, or if you're curious if they'd like something, try gently exploring the possibilities and getting them used to this potential new desire.

Think of your feet! If you've never given or received a foot massage, it's a truly enlightening experience. Here, you can release any tension you might have built up during a long workday or an intense workout, while discovering just how sexy someone can make your feet feel.

If you're interested in what they're thinking or want to give them a taste of what's to come, send them some not-so-innocent photos of their feet hours beforehand to pique their curiosity. Or, if you're unsure how to give a foot massage and make it sexy, check out some foot photos and videos on FeetFinder for ideas. You might even want to explore further and try a foot job!

Use vibrators

If you have vibrators, you can easily use them during a massage to elevate your play from good to incredible. The best vibrators for massage are bullet vibrators because they're small enough to fit one in each hand. When massaging your partner's back or other body parts, place a bullet vibrator in each hand, between your hands and theirs. Your partner will enjoy the erotic, pulsating sensations this creates, and you'll love watching them wriggle and moan under your hands.

The power of touch is so intense that you and your partner can reach new levels of intimacy with a simple, relaxing, and erotic massage. It's an easy way to pamper your partner after a long day or before a long, long night.

Learning how to give a sensual massage comes in the moment, so trust your instincts and don't be afraid to ask your partner what they like.