Learning to relax is one of the best ways to work with your contractions during labour. You will find the detailed instructions in Module 6 entitled "Healthy Activity".
Since you never know what will feel good during labour, it is a good idea to practice relaxing in many different positions. Here are a few examples of relaxation positions.
Remember, however, that there is one relaxation position that you should avoid. Do not lie flat on your back after your 16th week of pregnancy. This is because the weight of your uterus presses on your blood vessels and can reduce blood flow to you and your baby.