Princess Serena: You have 5 minutes to lick my feet clean.
Walk through the hallway once and my feet are dirty. Look at those dirty soles of your feet!
Your job is now to lick the soles of my feet clean with your tongue. You get 5 minutes from me and then my feet should be clean again. The slave can only use his tongue and swallow the dirt. I’ll verbally knock him down while he licks my feet clean. This feeling of humiliation and licking my feet clean turns him on, I can see that. The pet at my feet has found its true destination. It becomes a foot cleaning machine.