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Forced servitude, according to laws, is involuntary slavery, an illegal practice in many countries. It involves coercing a person to provide labor and other forms of service against their will. It implies the loss of an individual's freedom. In the BDSM community however, forced servitude can be part of an elaborate dominant/ submissive sex play.
A submissive within a forced servitude role playing scene experiences satisfaction in pleasuring and providing services to their assigned dominant partner. Service can be as simple as rubbing the dominant person's feet. It can also include a level of roughness, within agreed limits. The key is the consent of both parties. Each party knows their roles and are willing to act accordingly.