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Massage
Body massage is a wonderfully relaxing and intimate addition to sex. Massage reduces anxiety and tension. It can be a prelude to sex, or pleasurable for the very fact that it replaces sex - since there is no `performance anxiety' people are more able to relax and enjoy the sensations of their body, or to watch the reactions of their partner as they massage them.
All parts of the body can be massaged, usually using oils or powders. Not only the hands can be used, but also tongue, lips, mouth, vibrators and dildos, indeed whatever takes your fancy. And there are now plenty of books and videos available which can help you to learn new techniques for yourself and your partner(s).
There are no risks of HIV transmission from the massage itself. However, if you are using body oils for massage purposes, be careful not to let these oils touch a condom if you go on to fuck your partner, as the oil will corrode the rubber. Wash your penis and hands with warm soapy water before putting a condom on.
Commercial massage
Commercial massage is often a code–word for male and female prostitution. A cursory massage is often followed by masturbation or penetrative sex. Again, if body oils are used, you should insist that the masseur washes their hands and genitals with warm soapy water before fucking with a condom takes place.
For sex workers, the same applies. Don't be tempted to use massage oils as a lubricant, since these will corrode a condom. Wash your hands and genitals with warm soapy water, and switch to a water–based lubricant for fucking. Be ready to negotiate with your client, and to be firm with them if they insist on no condoms, or using oil–based lubricants.