Lady Scarlet wanted her muddy shoes to be licked clean by her slave because he was in charge of cleaning them but he had not done it. She did not want him to forget again that is why he had to use his tongue to clean the mud off of them. And the mistress trampled him as he licked them to make sure he did it fast and that he would not forget it.
Lady Karame did not want to have a nudist slave in her house and she warned him about his tendency to be nude in the house. She was not happy with that and she chose to dominate him as cruelly as she was able to. The mistress used her muddy shoes to dominate him and she did it when she caught him naked in her house. He never did it again.