Do you have any things you do with your S/O to help keep your relationship connected and fresh, like giving each other massages on a regular basis?

i was reading Dear Abby last night and I came across a letter from a reader whose relationship with her hubby had become a little stale. They were discussing the relationship one night after the kids were in bed, and he asked her if she’d like a massage. She liked the idea, so they now incorporate it on a regular basis. After the kids are in bed, four or five times a week, the TV gets turned off, they go into their bedroom, and they both strip and give each other a long massage. They might talk, they might not, but they just enjoy the sensations for awhile. After they’re done, they sometimes make love, sometimes just hold each other, whatever. It sounded like a nice way to stay in tune with your partner. Do you have any other ways to stay in tune with each other?