This can be anytime for you and your baby as long as you are both relaxed. Ideally your baby has fed over an hour before and is feeling rested and ready for some movement. As we don’t always live in an ideal world though be flexible and if your baby has just fed or woken up then make movements slower, smaller and lighter.
Babies love routine so they will become familiar with many moves, anticipating songs and actions.
At home create a nice warm area for your baby to relax in especially for the massage with no direct lights overhead and not too much stimulation around.