Service-oriented submission

In BDSM, servitude is performing tasks and following orders as an aspect of being submissive.

Some submissives gain pleasure and satisfaction from performing services for their dominants, such as serving as a chauffeur, butler or maid.

The pleasures of servitude are often combined with the pleasures of fetishes, the pleasures of humiliation or both. A submissive may rub his or her dominant's feet because the sub enjoys providing the service, has a foot fetish or enjoys being "lower" than the dominant, or any combination.