Blow gently into your baby's palm, then stroke it, then give it a kiss. Continue this activity for 5 to 15 minutes. For a newborn simply doing these actions is stimulation enough.
As your baby grows into infancy (within a month) start to vary this activity by telling your baby what you are doing, "Mama is going to kiss your hand" then "Mama kissed your hand." You can also vary the activity for speed, stroking your baby's hand slowly or quickly.
This is a great activity to start with your newborn and continue into infancy to see how your baby's reaction to it changes.