I finally tried
this pin that I've seen on Pinterest for a long time. I had a very large bar of soap that I had gotten as a gift several years ago. I don't know why I never threw it out; probably because I felt bad about throwing away a gift. Anyway, I'm glad I didn't because now I have enough liquid hand soap to last a lifetime!
So I grated the soap (be careful not to breathe it in, yuck)
Stirred it into 10 cups of water along with 1 Tablespoon of glycerin
I got the glycerin on Amazon for like $4. I stirred everything over medium heat until the soap dissolved, then poured it into a glass bowl to cool overnight.
The next morning it was a really weird consistency, kind of like Jello. When I stirred it it kind of loosened up to be more of a soap-like consistency. I used a funnel to pour it into my empty hand soap refill container and into an empty lotion bottle.
It works perfectly! I only used about a quarter of the grated soap that I had, so I should have enough of this stuff to last pretty much forever.