For me grounding has to use several senses at one time. Feet on the ground, frozen orange in my hands, smell the orange, feel the orange, see the orange. Music, but it has to be piped into my brain with headphones, not just room music. The ocean is huge for this.

Relaxing is a whole different thing. Progressive muscle relaxation has helped, I have a guided one on my iphone. Massage (which I never thought I would be able to handle) has helped quite a bit too. The key for me was finding a non threatening early 20's woman. (close to my daughter's age)