According to Modern Dog magazine, massaging your pup can be quite simple.
“Use a flat palm to slowly touch all the parts of your dog’s body. Really focus on what you are feeling, and pay attention to all the layers, from hair through skin, fat, muscle, and down to bone.”
While rubbing is great for the larger muscles, they recommend that for the legs you “wrap your fingers around each lower leg and squeeze gently.”
You can then finish up any massage session with a gentle full-body petting using the intention to heal and relax.