A rubbing action can often be very stimulating especially when used with massage oil or emotional bliss lubricant. Use the flat of the hand to rub in a circular fashion on the buttocks and thighs, breasts and back to produce a tingling sensation. Care should be taken not to press to hard so that the rubbing becomes uncomfortable.
Rubbing is also extremely stimulating if used on the penis but make sure you use plenty of lubricant to enhance the natural sensual experience. A light, but firm grip of the fingers around the penis is usually very arousing for men. Lubricant will help your hand glide up and down the length of the penis without dragging the foreskin, gently circle the head of the penis, paying special attention to the frenulum (in uncircumcised men), which is highly stimulating.
Circling can be very arousing for women. Once you are sure that the vaginal lips are well lubricated run a finger along one side of the vaginal lips, around the clitoris and down the other side of the vaginal lips. Once fully stimulated try a circular motion around the head of the clitoris can be very exciting and hugely pleasurable. Be wary of circling or rubbing directly on the clitoris as this can be uncomfortable when a woman is highly aroused.
Rubbing and circling should be used during the mid to later stages of lovemaking and should last as long as both of you feel comfortable with it.