Sensual Massage, Erotic Massage
Erotic massage is the use of massage techniques to achieve or enhance sexual arousal. The real intention of sensual massage therapy is to relax, to open up to your partner's emotions and to experience a higher level of pleasure in the relationship in general, including with intimate relations.
Example:
http://www.youtube.com/watch?v=G-VlI9Irb4o
http://www.youtube.com/watch?v=hDsO3NKN7hw