@blackjack2145309
I'm mostly interested in beginner type stuff since that'll be the skill level of the male character in question giving the massage to a female harem member.
Has your male character ever received a massage? Does he care enough to do even a little research? If the answer is yes to either then he should be able to give a reasonable sensual massage. With extreme emphasis on 'give'.
The scented candles, rose petals tax are just window dressing. What you need is for your subject to be clean, warm, naked and relaxed. You need a comfortable surface for your subject to lay on, at a height that won't strain you as you reach and move.
Begin with just fingertips. Light pressure and watch carefully how her body reacts, whilst most people share a few common places, everyone is different so you need to learn which parts of her body react to your touch. This also allows her time to become accustomed to your touch and to further relax.
Now add warm massage oil and begin. Do NOT go straight for her erogenous zones and sensitive places. Begin at either the head or feet and take your time, there is no such thing as too slow in progressing, keep your hands moving smoothly with constant pressure. Gently, you are not kneading dough. Firm but gentle. Adding more warm oil as needed, your hands should glide, not rub.
That answer your question? Or do you need more details?