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 butler, waitress, chauffeur, maid, or houseboy.
In workplace BDSM, the submissive may somehow secretly contrive that a work colleague, of same or opposite gender to the submissive, unwittingly finds themselves with imagined or real work related disciplinary power status over the submissive. The created dominant may never realize they are bringing secret pleasure and satisfaction to the submissive, in the giving of orders or else in rebuking the submissive for supposed performance failings at the workplace, such as "laziness".
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. But some bottoms who enjoy servitude prefer to keep their enjoyment and pleasure secret from all others including person(s) they have created as their "dominant".
In other situations, the submissive may also enjoy being collared and leashed, and in some aspects being treated like an animal. Leashes can also be attached to piercings.