Cloth wiping head from below before massaging under nipple (3,5)
I believe the answer is:
tea towel
'cloth' is the definition.
(tea towel is a kind of cloth)
'wiping head from below before massaging under nipple' is the wordplay.
I cannot really see how this works, but
'nipple' could be 'teat' ('teat' can be a synonym of 'nipple') and 'teat' is found within the answer.
This may be the basis of clue (or it may be nonsense).
(Other definitions for tea towel that I've seen before include "Cloth for drying washed dishes" , "Wee total (anag) - drier" , "Drying-up cloth" , "Washing-up cloth" , "Washing-up drier" .)