Rehabilitation typically starts as early as after you start partial weight bearing.
It can be as simple as doing passive Range of Motion Exercises to following regimen set by your physical therapist.
Also, there seem to be benefits to therapeutic massage. Most Physical therapists do some massaging as part of their program, but I’ve heard that it’s good to seek a therapeutic massage therapist as well.
(Update: A lot of massage therapists do not work on people who recently had surgery for fear of doing damage to your body. I discovered that if your surgery was within the past 6 months, then they won’t even touch your heel area.)