Massaging your baby can be as sensory satisfying to you as to your baby. Lay your baby on a warm towel and rub a baby-safe lotion or oil onto his arms, then legs, then chest, and back. Make small circles with your hands or use long gentle strokes. Watch your baby's reaction to your touch. Make sure he is comfortable with your movements.
Note about the video: this is NOT the massage described above, but it is still a fun time between Papa and baby that I thought I would share it!