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Zaid Alsalami,
Shaykh Dr Zaid Alsalami is an Iraqi born scholar, raised in Australia. He obtained a BA from Al-Mustafa University, Qom, and an MA from the Islamic College in London. He also obtained a PhD from ANU, Canberra. He has written and translated several Islamic texts and also prepared educational videos on Islamic rulings and practices. 707 Answers
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Abbas Di Palma,
Shaykh Abbas Di Palma holds a BA and an MA degree in Islamic Studies, and certifications from the Language Institute of Damascus University. He has also studied traditional Islamic sciences in London, Damascus and Qom and taught for different institutions in Italy and UK. 208 Answers
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Bismihi ta'ala
It would not only be permitted to massage your mother's feet, but indeed a blessing and an honour, as you will be bringing comfort and ease to your mother.
As for legs being 'exposed', to the son, there is no problem with that, as long as of course the mother's private parts are covered.
And Allah knows best.