For those unwilling or lacking the desire to perform the fine art of foot massage by hand, there's the foot massager. Such massagers range from those which need some manual participation (hand helds) to completely hands-free foot massage machines. 

There should be a foot massage to fit all budgets, depending on how much or little involvement you want to do massage. There is also a wonderful choice for free, or ones that cost very little, which still get the job done very well. 

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There is a very good choice for a free foot massage depending on where you live. In many countries in East Asia, one can find this path- foot massage path has been paved with protruding stones of various sizes and textures.

Often the line is accompanied by a sign depicting various acupuncture/reflexology on the feet. If you are lucky enough to have access to the road, you can get a great foot massage for free by simply walking on the stones.

It is also possible to walk barefoot in various fields such as a river or whatever you have access to where you live. It can be quite excruciating initially more challenging runs on the road. I know this from experience. My advice is to take your own pace, and observant of the sensations you experience.

The first experience of discomfort will give way to something much more fun when you relax and let gravity massage your feet using your body weight. Currently, I get a lot of pleasure from walking on the cobblestone street and be able to feel the stress leaving my body.