lotion

A low- to medium-viscosity topical preparation intended for application to unbroken skin.

sun-tan lotion

A washing, especially of the skin for the purpose of beautification.

To cover or treat with a lotion.

Grace lotions her arms and legs and joins him in the large walk-in closet where they change out of their clothes and into their pajamas—loose-fitting cotton bottoms for Mike and a lace-trimmed baby doll nightie for Grace.

I would finish my daily ranging session by lotioning his legs, and lotioning and rubbing his feet.