what is the best way to massage tired feet

Oil Massage
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massage is great but prevention is marvelous.
invest in a GREAT pair of shoes. they cost a bundle & do not always look the best but r worth it if u spend lots of time on ur feet.
take good care of ur feet. that does not have to be professional pedicures. just learn to clean & trim ur nails. check daily for cuts, sores, sensitive spots & treat them quickly.
feet r easy to ignore but they r so important for our daily comfort. take good care of them.

you could try professional feet massager. But for me i would be in the hot bath tub at the end of the day.

I can tell the easy way if you are looking for that.

Put your feet under water (warm). When that becomes comfortable, start putting 1 or 2 spoons of salt in that water.

15-20 minutes of such sitting should be relaxing and above all you can read your book in the meantime.

ask someone to massage them for you
or soak them in the hot water
or buy a feet massager