First, set the mood. Dim the lights and use some candles (scented or unscented) put them in strategic places around your bath so that you have adequate light but no where you'll knock them over. A little light music can also help set the calmness of the room. I tend to use music to drown out the sound of my dachshund...it is like she knows the second I step into the bath tub because she just starts barking her little head off.
Second, make sure you have the right temperature in your bath. Too hot can dry out your skin and make it puffy so opt for a temperature about 2 degrees over your body temp.
Third, prepare to soak. Add some mineral salts that contain lavender, eucalyptus and rosemary to help with achy muscles. Add chamomile and sandalwood for deep relaxation. Add sugar based soaks containing milk and soy protein for dry skin. Also, I highly recommend that if you haven't tried Lush products that you do so immediately. My lovely Secret Santa gave me Lush products and the Lush Bath Bombs are heavenly. I am super excited that when we are in Portland (during our honeymoon) I am finally going to go to a Lush store. I can't wait to smell all that they have. I hear the Twilight Bath Bomb is the best. Have you tried it?
Last but not least, when you finally emerge from your lovely bath, pat yourself dry...lather up with some lotion and sit around in a comfy robe. It's the perfect end to a peaceful bath.