If you want to do it right, take a massage class. Many colleges offer couple massage courses as part of their sports programme.
A few basic tips:
- pretty much any touch can feel good
- do not be afraid to apply a lot of pressure, when done right it won't hurt
- stay away from the spine unless you know what you are doing
- before really working on one area you need to heat it up, just do lots of fast circles with your palm