While it's true that most people don't know how to give a great massage, the same can not be said for giving a foot massage, it takes very little effort or knowledge on how to give a foot massage as most people just love having their feet touched and caressed, particularly after activity when they are sore or aching. The only exception is if the person is either excessively ticklish, or if they are self conscious about their feet because they think they are 'ugly' or if they have a deformation like bunions.
So most people can easily give a great feeling foot massage and the good news is that with just a few tips and a willingness to have a go and practice (and I'm sure you will have no problem finding a willing guinea pig), you can easily transfer from a novice to an expert foot massager.
Ok, if you want to learn how to give some foot massage therapy lets start with some basics. Massaging the feet is commonly connected with the idea of reflexology, which is a therapy system that uses the application of pressure to the reflex points in the body (and very commonly the feet) to treat discomfort, aches and pains. A good foot massage can certainly incorporate ideas from reflexology theory however it can be quite different, and needs no specialised knowledge. In fact it can be much simpler and yet yield a far greater immediate outcome in that it can quickly allow the receiver to feel comforted, soothed, and like they're walking away with a brand new pair of feet.
A pair of strong hands is a great start. Then grab some towels and some massage oil. If it's a 'quickie' foot massage, sorbolene cream will do a great job, it's an exceptional emollient and cheap to buy too, but it does absorb quickly into the skin so if you're giving a longer massage for the feet stick with oil. Now have the receiver wash their feet, or you can do it for them if you are comfortable to do so and willing to pamper them beyond the call of duty.
Washing the feet will make the receiver feel more at ease and make you feel more comfortable while giving a foot massage. If you want make a habit out of it, you can get a foot massage spa or foot massage bath and let them soak in luxury before the session begins. It's also such a treat as the feet usually get so much less attention than the hands.
Ok, now for some foot massage techniques. I find that it's good to proceed in this order:
Start by oiling up the feet and giving a general all over rub with the palms of the hands
Then a little foot manipulation, hold the heel firm with one hand and with the other, gently hold and twist the forefoot clockwise and counter-clockwise
Manipulate the toes, each in turn, up and down, left and right, and follow by massaging and caressing deep in between the toes
Massage in small circles on the sole of the feet with the thumbs followed by kneading using the fingers, heel of the palm, or knuckles
Now this one's a bit tricky. Grab the foot like a hamburger, toes facing you, fingers on top, thumbs on bottom under the balls of the feet. Manipulate the joints at the balls of the feet by lifting each joint independently up and down.
Massage the top of the foot using the palm and / or the finger tips. The top of the foot is boney so be careful not to apply excessive direct pressure onto any bone.
Finish with another all over rub If you learn and practice how to give a foot massage using this technique you will be a real hit with whoever has the pleasure of receiving your foot massage skills. Remember the more you practice, the better you'll get, and the happier the receiver will be!