Make sure you have enough time and won’t be disturbed.
Clean the room and dim the lights, making it cosy and setting the right mood. Make sure it’s warm enough.
Place a blanket on the bed, floor or a table. The bed might be too soft and a table too hard; the floor is often a good place because it provides a firm platform. Get massage oil and some towels.
You can put on some soft music, if you and your partner have the same taste.