Abstract: A method of cleaning the teats and/or the udder of a dairy animal. The method comprises a cleaning step of applying a cleaning fluid on the teats and/or the udder. The method comprises prior to the cleaning step a soaking step of applying a soaking fluid on the teats and/or the udder. A device for cleaning the teats and/or the udder of a dairy animal. The device comprises a cleaning device for applying a cleaning fluid on the teats and/or the udder. The device is provided with a soaking device for applying a soaking fluid on the teats and/or the udder. The device preferably comprises a mobile device. A method of milking a dairy animal, the method comprising a step of stimulating the teats and/or the udder of the dairy animal. The method comprises an application step of applying a fluid on the teats and/or the udder. A device for milking a dairy animal, the device being provided with a stimulation device for stimulating the teats and/or the udder of the dairy animal.