full rub down means to have sex and be rubbed. so yes
You rub his belly, but obviously not too far down.
To encourage someone to rub your back, you can ask them directly and express your need for some relaxation or comfort. You might say something like, "Could you give me a back rub? I could really use it right now." Creating a comfortable and inviting atmosphere can also help, as well as offering to reciprocate with a back rub in return.
Many parts of under body could rub on them.
It all depends on how the woman like her breasts being caresses or not. If they do you could lick, kiss, and rub it. Rubbing it you could fiddle with the nipples and do whatever. Licking you could slowly lick the nipple or the whole breast. Kissing you could kiss the whole tit and suck on it like you are breastfeeding. This could make the tit stiff.
Rub the surface down with emery cloth and water. This should give you a smooth surface to work on.
give them a rub
rub or suck on the clitoris
If you rub his tummy.
you rub its belly
The correct phrase is "rub it in." This means to apply pressure while spreading a substance onto the skin. "Rub it on" could also be used, but it doesn't imply the same level of thoroughness or integration as "rub it in."
you rub her down good
You need to get a boner then rub your dick till you give sperm.