What relaxes you?

I would love for my dh to massage my feet but he says after a while his hands start hurt (arithis) I guess.

One day me my dh and my sil and her dh went out to the movies and somehow my sil's dh grabbed me by my neck and gave me a quick squeeze omg it felt so good...I kind of said it loud for them to hear...Later that day my dh questioned me about it..He got jealous obviously I told him I did not mean to say that it just came out and told him I was sorry and please do be this way. But in back of my mind I was like well if your hands were working alright you'd be giving me those masssages. I know that sounds cruel but damn when I need a massage I have to get the kids to step on me that feels good too, but I'd rather have my dh do it. He is a good man.