I use a natural bristle brush with wood handle that came in some random gift set. I think it is technically a nail brush - one side has a thin row of bristles and the side I use has a full set of bristles. I start with my arms and hold one over my head and use long fluid strokes from the wrist to elbow all the way around my arm. Then, I circle around the elbow. Then, long, fluid strokes from the elbow to my shoulder all the way around my arm, including plenty of overlapping. Repeat with other arm. I do light, circular motions across my upper back and neck (just what I can reach) and move to the front to repeat with an even lighter touch. Then, I move to my feet and work my way up my legs (essentially the same as my arms). Always stroke towards the heart or in circles. I use circles on my torso parts and end with large circular motions around my belly (clockwise). This *could* take a long time and sometimes I do indulge. More often than not, though, I just move fairly quickly and it takes about a minute to do my entire body and then I hop in the shower. (When I first started, it took me about three minutes, then two minutes and now one minute.)
I've recently started applying the same techniques to my head and body while shampooing and conditioning and general washing. I don't know about any real benefits, but it sure feels more relaxing and pampering even though my shower is the same length of time.