To clean off most water-, oil- or petroleum-based lubes or lotions, you should wipe off the area that came in contact with the lube or lotion with warm, soapy water and then dry the areas off with a towel. Water-based lubes and lotions are especially easy to clean. If you're cleaning off a petroleum- or oil-based lube, you might need to wash and rinse more than once to completely remove the lube or lotion.

 

If you used a silicone-based lube or lotion, all you need to do is wipe the area with a damp towel to remove the lube or lotion.