In this video Katya will show you a sensual massage therapy technique for men and women. Intimate Erotic Genital Massage Video Lesson - Intimate Massage http://youtu.be/aJumXTm-Reo â–»Subscribe. Getting a massage helps promote relaxation, get rid of stress and soothe tight. Sensual massage is offering your partner/self a penis massage, without expectation. A sensual massage is amazing because you are relaxed once.