Is it normal for an 18 yr old daughter to be asking her father to message her feet and her body all the time?

Feet, yes, body, unless he is a professional masseuse may be going too far.

She is the one that inituates it...

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Doesn't matter too much who initiates it.

Are you her sister or boyfriend or mom? (It's hard to tell -- katz59.) Have you mentioned to her it might not be a good thing to do?

By massage do you mean like rubbing her neck and shoulders?

More than that I may easily see as questionable.