A couple of years ago I recorded this video of how to give a relaxing foot massage at the start of a reflexology treatment. This video has helped many people from patients and their families to those who are training to be reflexologists.
The essential aim is to get flowing, rhythmical movements where you mould your hand to the shape of the individual foot but the techniques shown give some variation and achieve different effects.
Often people I am treating find it helpful to get a family member to use foot massage between treatments to enhance the course of treatment. Some use it themselves to relax and help other people in their family, a friend of mine uses it to get her children to sleep.