Always avoid tickling, or grabbing and squeezing too hard, as it will create tension rather than eliminate it. Bodies have specific pressure points that can be used to relieve tension in other areas. For example, just between the thumb and index finger is a spot that, when rubbed in a circular motion, can get rid of headaches. The feet are notorious for just such spots. They're simply items that enhance relaxation, either directly or indirectly.
Candles are a good example.
Aromatherapy candles have been known to aid in the relief of tension, though lightly scented votive candles, which are just pleasant smelling, may achieve the same thing. Candles also do wonders for mood lighting by creating a soft, relaxing glow. Another example is massage oil. These lightly scented mineral oils aid in making the hands flow smoothly and create less friction on the skin. Many of them also have beneficial effects on skin.