My dog lies on his back supported on either side with my legs in a "V" so he is stable. He is little so he fits. His head is furthest away from me.
He will often jump up on my chair, which is a recliner and will turn over himself and look at me as if to say, "Well, get on with it."
I start with just a gentle tummy rub for a bit. I use both hands, one on each side and using my fingers do gentle circle in opposite directions so one hand circles one way and the other hand the opposite. This stops the pulling of skin as you go.
He starts to really relax. I will rub his chest and neck as well.
I then move to some effleurage, which is just a gentle stroking movement in the direction of lymph drainage, maintaining contact all the time, so one hand over the other or side by side.
This works well on his hind legs. I move my hands upwards. He usually straightens them at the point as he really likes it.
There are large muscle groups on either side of the hips. The one on the outside are largest. I gently knead them, feeling for any knots or spasm. He absolutely loves this. Has to be very gentle. Sort of like kneading bread only a fraction of the pressure.
The muscles on the inside are close to his doggy private parts, so I am very careful to avoid them when doing the same with the smaller muscles on the inside of his hind legs.
I use effleurage on his hind legs also. I very, very gently massage his rear paws, moving his toes independently just slightly. He likes that but not if it is too aggressive.
He usually stretches and turns a bit to his side which allows me to do a bit of kneading along his spine. You can do both side at the same time if he is on his tummy, but on his back he gets one side at a time or I slip my hands under him and gently knead. Feel for tight muscles and very gently use a couple of fingers across the direction of the muscle fibers, which in the spine is usually horizontal to the long a is of his body.
I do the same with the front legs as the rear. The muscles are smaller and most of the main muscles for walking etc are on the dog's back, as our shoulder muscles are. I gently rub and massage his front paws. He does not enjoy that as much as his rear. I am not sure why but he did nave a pad infection a few months ago.
i finish off with more soothing tummy rub.
It is actually funny how blissed out he looks during it. DH thinks I am stark raving mad!
I hope that give you some ideas. It is hard to describe. You can find demonstrations of effleurage and kneading etc. on the internet. You can tailor what you do to your own dog.
The photo shows how he lies on my lap. He know that around 6 pm when I watch a bit of TV while dinner cooks is a good time to catch me and get a massage!