I would do it for my son at night before sleep (age 6). I would put my hand on his back which was more soothing for him. It helped him get to sleep a lot sooner and calmer during a challenging period in our family.
I have taken a break from them. I am trying not to over smother my son which can be easy to do at his age so I have stopped for now. If he seems off, or about to get sick than I follow that instict to practice. I am trying to let him be more independent.. Big mamas boy my son
Have you introduced meditation/breathing techniques to him? Something to look into, it could offer calmness/healing all while he remains sovereignty over his own body. I introduced short sessions of mediation to my 8 year old, calm her temper tantrums.