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