Many Tibetan Buddhist practices are for the benefit of both oneself and others. In the book, How to Meditate: A Practical Guide, by Kathleen McDonald is such a practice, using the enlightened figure Tara, who is particularly dedicated to health and long life. It is composed by Lama Zopa Rinpoche, co-founder and head of the Foundation for the Preservation of the Mahayana Tradition (FPMT).
Below is the crucial part of this practice. You might acquire the book to see the full practice. It's a lovely, widely used book, with much practical advice on meditation in the Tibetan forms, plus many actual meditations in a variety of styles: on mind, analytical meditations on important topics such as impermanence, visualizations, prayers and devotional practices (like this one).
Now recall any special request you want to make—success in your
spiritual or worldly activities, the health and long life of your
relatives, friends, or yourself, or anything at all that you want.
With these needs in mind, recite the short prayer to Tara as many
times as you can, while either remaining seated or making
Om I prostrate to the goddess foe destroyer, liberating lady Tara,
Homage to tare, savioress, heroine,
With tuttare dispelling all fears,
Granting all benefits with ture,
To her with sound svaha, I bow.
As you recite the prayer visualize rays of light with nectar running
down them (like raindrops running down a wire) emanating from the
point where Tara’s left thumb and ring finger touch. The rays and
nectar flow continuously, reaching you and all the beings surrounding
you, purifying your hindrances to Dharma practice and the obscurations
to liberation and enlightenment.
Remember the problems of all the people you are praying for. Think
also of the sufferings and troubles being experienced by the sentient
beings surrounding you: people fighting wars, feeling ill or lonely;
those full of anger, pride, or jealousy. As the rays and nectar enter
their bodies and minds, their suffering and the causes of their
suffering are completely extinguished. All sentient beings become
Think with deep conviction that Tara has accepted your requests and
answered your prayers. During the first half of your recitation you
can visualize the purification described above, and during the second
half you can visualize that you and all beings become one with Tara:
with each prayer an identical Tara emanates from the Tara visualized
in front of you and dissolves into you and everyone else. You all
become completely one with Tara’s holy body, speech, and mind.
Addendum -- Sept 7
To the very valid observation that one must liberate oneself we can add that, like all things, liberation is the result of countless causes and conditions, including the kindness of others. The kindness of the teacher is particularly important, but so are the material conditions that provide the leisures and endowments needed to practice Buddhadharma: adequate food and shelter, good health, the support of the sangha, the availability of texts and teachings, and so on. So the idea that one liberates oneself does not exclude the fact that that we must help each other.
Thus we can view lesser goals such as recovery from illness, pain or deprivation as the causes and conditions for liberation. The crucial factor is motivation -- all acts, prayers and practices done with the motivation of liberation for oneself and others are positive and help create wholesome karma that impels us toward that goal. That is why the above practice weaves together lesser goals with the motivation for enlightenment, and is therefore a legitimate, effective Buddhist practice.