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Gentle-to-medium pressure kneading motions that you administer to someone's shoulders, either to relieve aches/tension and [generally] soothe his overall physical/[emotional] status, or to simply savor his/her sinewy/pliable muscle-tissue (this is especially pleasurable if the person is not wearing any covering on his/her shoulders, since it permits you direct flesh-to-flesh contact with your hands for maximum sensory pleasure, and it also lets him/her feel the caring warmth/softness of your hands). These simple massages can be administered to your friend from either the front or the rear, although it is usually safer and more comfy for the person if you do it from the front, since this ensures that your fingertips will not [accidentally] dig into the tender joint-grooves just below his shoulders.
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