This is THE best $30 you can spend. It's the "Asian nail salon" of massage parlors, but so, so, SO good and TOTALLY worth it!
You let them know the pressure you'd like the massage to be ahead of time and they keep track of who you've had in the past so you can pin point who you like best.
I get the 1 hour full body foot massage. You keep your clothes on (I wear comfy clothes like gym shorts and a tank top). You aren't in a private room, but there are "rooms" created with curtains and the lights are dim, music calming and it's just an overall relaxing atmosphere.
They put your feet in warn water and start massaging your scalp/face and arms and then move to your feet. Probably 20 minutes of the hour is spent on your feet, but I'm sure you could request more/less.