My set up: warm bed/soft sheets; dim light; linen spray or burn some candle while showering; take a warm shower.

Watch some porn videos to turn myself on, and then just listen to the sounds in the video.

Start with touching myself, breasts, nipples, tights, and then between legs....

And then use toys or just fingers to start exploring.

The biggest benefit I can feel is better/deeper sleep from doing all of these.