For this activity, you can use a blanket or a yoga mat that is flexible enough to fold and roll the child inside it.
Ask the child to lay on the blanket, leaving their head out of the blanket/mat boundaries, and roll them inside to provide both proprioceptive and vestibular input.
To make the activity engaging and playful, pretend the child is a burrito or a hot dog, and roll them in and out every time you put another “ingredient” into your warp/bun.
Do this activity in a group, and ask the kids to wrap each other like a burrito/hot dog. This will provide the child that is rolling with proprioception input as well.