Big ol' brush.
I also have long scrubby things. Don't know what they're made of, but I think nylon. Basically really long washcloths with a rough texture and strings to hold onto while scrubbing. But the brush does a better job, so I usually only use the cloth ones when I'm away from home because they pack easier.
That's assuming I can't con my wife into getting soaked just to stand there scrubbing me down for a half hour while I continually say "yah, right there, a little harder. Now to the left, oh yeah, that's great, a little more. Now up some, fucking perfect, you're awesome. Now down a little again" and so on until she throws the scrubber at me.