The following is a detailed account of how body worship is done. Either gender may do this to their partner or you can both try to do this simultaneously to each other, which is a blast and lots of fun.
Begin with your partner naked and lying face down onto the bed. Using an edible oil, begin lightly massaging neck, shoulders, and, arms, slowly working him/her over from head to toe. Repeat using heavier and heavier hands. A woman doing this to a man may have to use her full body weight here, while also nibbling, kissing, licking, biting, scratching, caressing in agonizing slowness every where you had previously massaged. Use your body, your hair--everything, to lightly trace arabesques all over your partner's body. Mix it up between a heavy touch and barely felt, between pleasure and just a hint of pain. Take your time with this. Then slide back and have him/her roll over.
Do the same on the front as you did on the back but DO NOT TOUCH his/her genitals. Save those for last. Once again take your time, be slow, slow, slow and lingering - you want to drive him/her mad with lust. Then when he/she is at your mercy, you may then engage in sexual intercourse beginning with oral sex and progressing through to earth-shattering multiple orgasms for both partners.
When I say all of his/her body I do mean all of his/her body including nibbling fingertips and sucking toes. Breathe on his body hair to ruffle it. Feel free to experiment - does he/she like it when I do this? Lick scars. Kiss the outer corners of his/her eyes and lips lightly with just a hint of a moist tip of the tongue. Slide your fingers in between and up along his/hers. Do several things at once in an attempt to provide sensory overload. It is all good. The more adventurous can add in vibrators for P-Spot/G-Spot massage as well. Please note that no equipment is required. You do not even have to use the oil.
The only caveat is NO TICKLING. If you do inadvertently tickle, immediately wipe the sensation away using a slightly heavier touch on that area.