Is it permissible for a father to make his children give him a massage?
Question

                My husband enjoys getting massages and often times I am too busy or tired and unable to do this so he get our children to do the massage for him. They are ages from 6 to 10 years of age, 4 girls and 1 boy aged 8. They massage his back, head, neck, legs, and feet. Is this massage Islamically correct and would it be appropriate for the children to continue massaging their dad and after the children reach puberty. Jazakallah khairun.
Praise be to Allah.What we understand from the 
    question is that enjoyment that the father feels from having these parts of 
    the body massaged is of a normal type of enjoyment, such as feeling relaxed, 
    but it is not accompanied by any kind of pleasure or sexual desire towards 
    the one who is giving the massage. If that is the case, then there is 
    nothing wrong with him being massaged by his sons and daughters on the parts 
    of the body mentioned, whether they have reached puberty or not. 
But if they have reached 
    puberty or have reached an age where they may be desirable, then the father 
    must cover the area between the navel and the knee before them; they may 
    look at other areas apart from that. 
Ibn Qudaamah (may Allaah 
    have mercy on him) said in al-Mughni (7/80): As for a man with 
    another man, each of them may look at whatever is not ‘awrah of the other. 
    Two views have been narrated concerning its definition, one of which is that 
    it is the area between the navel and the knee, and the other is that it is 
    the private parts. End quote. 
With regard to women, the 
    scholars have explained what it is permissible for her to see of her 
    mahrams. The great scholar al-Nafraawi al-Maaliki said in al-Fawaakih 
    al-Dawaani (1/287), when speaking of washing the deceased: If one of his 
    female mahrams is present, she may wash him, and his ‘awrah should be 
    covered from the navel to the knee, because she may see of him what another 
    man may see, which is everything except the area between the navel and the 
    knee. End quote. 
This applies if they have 
    reached puberty as we said, or if they have reached an age where they may be 
    desirable. But if they are younger than that, the matter is simpler. 
All of this applies if the 
    matter is as we have understood from your question, and that what is meant 
    by enjoying is natural physical relaxation. 
But if what you mean is 
    pleasure and enjoyment of the one who is giving the massage, then it is 
    haraam and is a door to greater evil. In that case what is required is to 
    prevent this evil. 
But we do not regard this 
    as something recommended even in the permissible form, especially if he is 
    old and if it is done regularly, because that may lead to a loss of respect 
    between the children and their father, and so as to block the way to any 
    feared negative consequences, especially in the case of those who live in 
    the west, and you cannot be certain what the children may be picking up from 
    the society around them with regard to such matters.  
And Allaah knows best.