Learning to give and receive massage is an art. Part of this art is to develop our conscious awareness of touch, and of all tactile sensations.
Our body is constantly caressed by various stimuli but we are rarely completely aware of the sensations. When we bring awareness to the sensations and feelings that are evoked, we suddenly discover that we are relaxed, in the present moment, and our consciousness begins to expand.
Here is a very simple exercise of awareness. Find objects to touch, and simply try to be very aware of the sensations and feelings that are generated. Be as conscious as possible. Do it very slowly, with maximum awareness.
Another way to focus on the sensation of touch is to become very aware of the feeling of the water falling onto your skin when you are in the shower, and how it makes you feel.
When you are in the wind, try to become very aware of the touch of the wind on your skin, and how it makes you feel.
And when you are being touched by someone else, be very aware of the feeling in the part being touched.
If you are very aware, you will feel a special sensation in the heart, as a feeling of openness or expansion.