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BDSM Dictionary : Kneel: history
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Kneeling is a fairly standard position for many submissives. It shows deference to their dominant and is a posture where many submissive feel at ease. A male submissive can be forced to remain in a kneeling position by the use of a humbler, which will prevent the sub from standing.
There are various ways to kneel and not everyone can do so comfortably, or at all, due to various medical issues. The basic posture is to sit on the floor, with the legs tucked under the body. The bottom might rest on the legs or on the floor. A famous kneeling posture is Nadu, popularised by John Norman.
Before ordering their submissive to kneel for the first time, a dominant should enquire about any health issues and whether the person has trained in kneeling for extended periods of time. Kneeling for long periods on a hard surface can damage the knees or feet. Knee pads will extend the time a sub can remain on their knees and will enable them to kneel on hard surfaces without causing unintended discomfort.See also
(This entry in the BDSM Dictionary incorporates text from the Kneel article in Wipipedia.)
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