I'm thinking about starting to massage both my dogs--actually do it now on a small scale.

Have been researching techniques on Internet because I don't want to injure them inadvertently. Both dogs are used to being handled a lot (we're big on petting in this family..!) so I think they'll enjoy it.

Does anyone do this on a regular basis? Is there a particular technique you use? Any book you might recommend?

Tess (20 lb CKCS) is 9 years, has hip dysplasia. Tucker (72 lb Golden) is a healthy 1 year old boy.