Lavender oil is a well-known relaxant. Orange and Geranium, I think, are classed as uplifting. Can't remember what Clary Sage is classed as.
You can use them as massage oil. Use a carrier oil such as almond, olive or even sunflower oil and dilute at a ratio of two drops of essential oil to ten of the carrier oil. You can self massage, either your hands, feet or temples, or get someone else to do it for you.
Alternatively you can drop three or four drops into running bathwater.
Another way is to put a few drops into one those oil burners you see in the shops. Mix two or three drops in with a little water before setting the tealight underneath. You need the water to stop the oil from burning and spitting in the pan of the burner, so keep checking and topping up - you'll need to top the water up before the oil.
Whatever you do, don't use undiluted oils on your skin. They are concentrated and can irritate.