Meet Phoebe. She is 8 years old here, quite verbal, and normally doesn't want much petting or touching except from her Mom. This was our first experience together, which lasted for 30 minutes or more. She was very cooperative, happy, kneading my arm with her front paws, and trying to figure out how to knead me with the back paws at the same time. She was massaging me!
The end result - total relaxation for both of us.