The short answer, yes! Pregnancy creates many stresses on the body and can be uncomfortable to the mother from the onset to the end. Massage can help soothe your muscular pains and also reduces stress on the mother, thereby reducing the stress levels of the fetus. A short description of a prenatal massage can be found here.
If you’re in your first trimester, please consult your doctor before receiving a massage, in case you have any contraindications.