For example, the Goodman of Paris, a text written in the early 1390s about managing a household (and mentioned in my post on the hourglass), offers this about hand washing:
To make Water for washing hands at table: Boil sage, then strain the water and cool until it is a little more than lukewarm. Or use chamomile, marjoram or rosemary boiled with orange peel. Bay leaves are also good.
A bowl with water was available for washing your hands and face when you awoke, before meals, when arriving home after a long day's work or a long journey (washing the "dust of the road" from you sounds like a quaint saying today, but centuries ago you arrived home likely covered in dust).
Besides the Goodman, another popular text in Western Europe was the Tacuinum sanitatis ("Maintenance of Health"), a Latin work translated from an 11th century Arabic medical treatise. Numerous versions were produced in the 14th and 15th centuries. It discussed the virtues of bathing with Water of A Pleasurable Warmth:
Nature: Warm and humid in the second degree.
Optimum: The kind that opens the pores with moderate heat or with a fever.
Usefulness: For bodies with open pores; furthermore, it lowers the temperature.
There are also many depictions of people in bathing tubs, such as the one above. Of course, not everyone could afford a tub, or to heat water. Lower classes took advantage of streams and ponds or lakes. No one wanted a build-up of grime on their hands or bodies.
Our old friend Hildegard of Bingen offered a recipe for washing:
...one whose face has hard and rough skin, made harsh from the wind, should cook barley in water and, having strained that water through a cloth, should bathe his face gently with the moderately warm water. The skin will become soft and smooth, and will have a beautiful color.
This is a face conditioner; did they have a face cleanser? Grime could be more easily removed if you had soap. Did they have soap? Let's figure that out tomorrow.