Service
From wipipedia.org

Some slaves find primary fulfilment in their slavery because it meets their need to serve and others find primary fulfilment from a need to give up control and obey. Although both obedience and service are an integral part of the M/s dynamic, some dynamics are oriented more towards service while others emphasise obedience. These different dynamics create different challenges and rewards.
Body service refers to the attention a submissive gives to their Dominant's personal hygiene, ie. bathing, grooming.
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