Giving yourself a foot massage can actually be more painful because you end up twisting yourself into a pretzel shape. There's an easier way. Get any standard golf ball and put it on the floor in front of you. \
While sitting or standing, place your foot on top of the golf ball and gently move your foot around, rolling the ball around under your feet. This is a simple way to give yourself a nice foot massage. You control the pressure and the motion and where your foot is being massaged. \