To rub a bodypart, or body, specially with gentle & soft techniques. Sometimes massages are hard & may hurt, but are useful in the end.
"I wanna give my girlfriend a full-body massage. Oh yeah, I want to rub every part of her....I'll massage her fine, sleek ass, then turn her over to massage that fine rack of hers, and finally, go full-bore on pleasing that hot succulent pussy of hers; I'll rub it up'n'down and listen to her sexy moanings and I'll have my day made. LOL"