Give yourself an oil massage

It nourishes the skin, relaxes the nervous system, removes impurities from the plasma blood & feeds the inner tissues of the body.

In the same way that a machine needs greasing, the body loves to be oiled for sheer pleasure as well as to protect it against the ravages of the environment & time. Here's a list of oil that are best for each dosha:
Vata: sesame oil, almond oil
Pitta: coconut oil, olive oil
Kapha: sunflower oil, grapeseed oil
Note: always use organic and cold-pressed oils when rubbing them directly onto your skin

You'll want to set yourself up in the bathroom. I usually get in the tub and fill it up with just a few inches of water (enough to keep me warm while i'm doing the massage). This prevents a mess from being made elsewhere in the house. Some people stand on a towel. Whatever works for you.

You'll also want to gently heat the oil before starting. Here's how:
Put 1/8 - 1/4 cup of oil in a clear plastic squeeze bottle.
Put bottle in a cup of very hot water.
Let it sit for about 5 minutes or until warm.
Meanwhile, make sure you have a clean towel for drying off after your shower or bath, one that you don't mind getting oily.

Ayurvedic massage is performed with the balls palms of the hands, as well as with the fingers. I'll break it down for you:
Use circular strokes over the joints and abdomen
Use up-and-down strokes over the limbs
When finished, leave the oil on for 15-30 minutes and follow with a hot shower or bath. The hot water opens up the pours of the skin and brings the oil into the deeper tissues of the body (this is why oil trumps the use of lotion -- lotion doesn't nourish the deeper tissues, only the outer skin).