I like to make my wife a cup of hot herbal tea, give her a neck and foot rub, then we talk about the day....or whatever is bothering her. After a meal, we both clean things up together, so we can then relax (usually in the bedroom) with a kiss, cuddle, and either a nap or let nature take its course.
This has worked very well for 15+ years now.
By the way, to the guys out there... I give my wife a single rose frequently. This helps to keep the marriage and romance 'alive'. Just a word to the wise.