The two of you will modify the routine to something that works for you. You may find as they go through important developmental stages that they won't want a massage, as they are concentrating on whatever task they are trying to learn. When they have passed this particular stage they may settle into the massage routine again. It may depend on their personality. Some children never stop once they are up and running, others will still want the bedtime routine of the massage.
Toddlers like to rub themselves with lotion.
Vimala McClure's book, Infant Massage, A Handbook for Loving Parents and the video are excellent resources.