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Servitude in BDSM refers to performing personal tasks for their Dᴏᴍɪɴᴀɴᴛ partner, as part of their sᴜʙᴍɪssɪᴠᴇ Rᴏʟᴇ in a BDSM relationship.

In domestic Servitude Roles, the sᴜʙᴍɪssɪᴠᴇ can receive pleasure and satisfaction from performing personal Services for their Dᴏᴍɪɴᴀɴᴛ, such as serving as a butler, waitress, chauffeur, maid or houseboy.

In workplace BDSM, the sᴜʙᴍɪssɪᴠᴇ can somehow secretly contrive that a work colleague (of the same or opposite gender to the sᴜʙᴍɪssɪᴠᴇ), unwittingly finds themselves with imagined (or real) work-related Disciplinary Power and/or status over the sᴜʙᴍɪssɪᴠᴇ. The created Dᴏᴍɪɴᴀɴᴛ may never realize they are bringing secret pleasure and satisfaction to the sᴜʙᴍɪssɪᴠᴇ, in the giving of orders or else in rebuking the sᴜʙᴍɪssɪᴠᴇ for supposed performance failings at the workplace, such as "laziness".

The satisfaction of Servitude are often combined with the pleasures of a Fᴇᴛɪsʜ, the pleasures of Humiliation, or both.

A sᴜʙᴍɪssɪᴠᴇ may rub his or her Dominant's feet because the sub enjoys providing the Service, has a Fᴏᴏᴛ Fᴇᴛɪsʜ, enjoys being "lower" than the Dᴏᴍɪɴᴀɴᴛ, or any combination. But, some bottoms who enjoy Servitude prefer to keep their enjoyment and pleasure secret from all others, including the person that they have created as their "Dᴏᴍɪɴᴀɴᴛ". There are those in the BDSM Community who frown upon this practice, however, as surreptitiously putting someone in a Dᴏᴍɪɴᴀɴᴛ position violates the principle of Cᴏɴsᴇɴᴛ.

In other situations, the sᴜʙᴍɪssɪᴠᴇ may also enjoy being Collared and Leashed, and in some aspects being treated like an animal.

Leashes can also be attached to Piercings.

There can be any number of partners in a Dᴏᴍɪɴᴀɴᴄᴇ ᴀɴᴅ sᴜʙᴍɪssɪᴏɴ relationship, in some cases with one Dᴏᴍɪɴᴀɴᴛ sometimes having several submissives, who may in turn Dominate others, or a sᴜʙᴍɪssɪᴠᴇ sometimes may have multiple Dominants.

Relationships may be Monogamous or Polyamorous.

Romantic love is not necessarily a feature in D/s, partners might be very much in-love or have no romantic relationship at all.

Variation in D/s is virtually limitless and the activities take many forms.
These may include:

~ Consensual sʟᴀᴠᴇ

~ Dᴇɢʀᴀᴅᴀᴛɪᴏɴ

~ Domestic Servitude

~ Enforced Chastity

~ Erotic/Verbal Humiliation

~ Human Furniture

~ Human Toilet (Golden Showers)

~ Fetishes (foot/shoe/boot worship, uniforms, smoking, latex, heavy rubber)

~ Sᴇxᴜᴀʟ sʟᴀᴠᴇʀʏ

These may be combined with other forms of BDSM.
A classic example of D/s is the "Sissy Maid", where an adult male dresses in cartoonish female clothing and performs stereotypical female chores such as, housecleaning or serving tea.
It should be noted that cross-dressing in D/s does not always involve a desire to be sissified or made into caricatures of women or to serve; for example, others may desire to be made as beautiful as possible and interact on a "girlfriend-to-girlfriend" non-sexual basis.