Chores and tasks as sexy duty

The dominant sets non-sexual tasks (clean the room, make bed) and the sub has to do them naked or in a maid outfit, perhaps. The sub finds the act of obeying domestic orders arousing in itself (this is a common dynamic in power exchange relationships – service submission). You can mix sexual tasks in too (“After you fold the laundry, you will kneel and wait for inspection”). It’s about the submissive feeling useful and the dominant enjoying being taken care of, with the power dynamic underscored at all times.