I feel as if most people over complicate bdsm. Of course, people vary with their kinks. So perhaps, this is more self reflective than anything else. But doing chores naked is kinky. Especially if your partner is home and clothed. Cooking/baking naked is kinky. Online shopping / social media naked can be kinky. Add some clamps, plug and it’s extra fun. Bdsm doesn’t have to be hanging by ropes from the ceiling, as much fun as it is, but it’s also taking a dirty dish to the kitchen cause your Domme told you to.
