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The physical act of targeting specific areas on your body via circular rubbing, brushing/stroking etc is meant to highlight an area and draw your awareness to it.  It is to be used in the beginning stages for individuals who have troubles sensing areas on their bodies with their awareness alone.

Rather than circular rubbing on the say thumb joint for an extended period, try doing it for a few minutes.  Concentrate on the feelings you get from physically tracing a circular pattern on the joint.  When you think you've got it, stop physically tracing the circle and let your awareness take over.  Continue trying to create and recreate the sensations you got from the physical stimulation with your awareness alone.  

Your body is like an onion with its many different layers.  As you continue to practice and reveal new layers, your body awareness and sensitivity will begin to open up.  Don't be too discouraged if you are new to energy work and are having trouble feeling the different sensations.  Continue to practice and eventually you will see results.  For most all, this is a lifetime(s) endevour.  It took a good while for me to really get a sense of my different body sensations when I started outer dissolving and taoist meditation/alchemy practices 7 years ago.  The feelings are there, for some people it just takes time.  You may not actually feel the energy working but it is..give it time and with daily practice you'll notice subtle to profound differences.