>>82268631
>We're both not the physical contact type.
You should try slowly changing that. Give your mom more hugs when you get the opportunity, casually touch her arm when you are close to each other and talking, basically the same as establishing some physical contact with a girl you are just starting to date.There's no exact way of doing it, you'll have to judge what's right on your own and based on how your mom reacts.
>I do the basics like massages, but only on the feet
Offer to rub her shoulders as well, it's easy to escalate from there to doing her back, then legs, etc.

In my retarded opinion, supposing that your mom happens to really enjoys physical affection between you two, it shouldn't be difficult to go from regular daily hugs to butt grabs.
Don't forget to show some appreciation for her appearance. If she's wearing some new clothes, putting some effort into looking good, or just looks great for some reason let her know that you think she's pretty/attractive/hot. It depends on how you are comfortable talking to each other, but there's nothing wrong with flirting with her some.