I have pair of taoistic spheres which I bought a long ago. Two billiard or tennis balls will suit the purpose as well – not so efficient though.
Before starting the massage, we must set priorities: 1) healing of the muscles, 2) tired muscles recovery and 3) stimulation of the most important muscles. That means if you have muscles which need regeneration then you will start with them following with muscles which suffer from fatigue. At the end you stimulate the most used muscles which you want to improve with dual purpose of the injuri prevention and performance enhancement.
In laying position, spheres, or alternatives, are placed under the muscle. We can rotate in both directions, press dynamic or static, slide in any direction. Feel how your muscle(s) react. If it becomes painful just gently change the course. Interesting phenomenon occurs: it seems like spheres are moving by themselves. Actually, it is our neuromuscular control. Comfort and relaxation are the target points here.
This kind of massage is more beneficial and pleasant than the usual one with other person doing it. Of course, live massage has its own specific advantages over spheres method. Combination of the two would be ideal.
I will publish video in few days.