Although getting some sort of regular professional massage every so often can be a great treat as well as truly good for your body, I recommend daily self-massage as an effective recovery aid for your body. I use two different tools, a foam roller and also a thinner rolling massager, daily to work out the kinks of my workout routine.
I use these tools daily on my quads, hamstrings, IT band, calves, and achilles. I also occasionally use them on my feet, back, and shoulders as well.
Self massage helps increase blood flow, and thus, recovery. I do it whether I’m sore or not because I feel that it is good for me either way.
When I first started doing it, it was definitely slightly uncomfortable at times (especially using the foam roller on my IT band), but over time it has moved from uncomfortable to pleasurable.