If you have a loving friend who's offering to rub your feet regularly, that's great, but most of us don't have that luxury. Instead, perform a little self-massage with a tennis ball or racquetball. Sit or stand and place the ball under the arch of your foot, roll it along your arch, and shift to whatever part of your foot needs attention. You'll be surprised at how sore your feet really are.
Go ahead, show your running feet some love. They will thank you later.