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According to Merriam-Webster, Worship is defined as:
1. reverence offered a divine being or supernatural power
2. an act of expressing such reverence
3. a form of religious practice with its creed and ritual
4. extravagant respect or admiration for or devotion to an object of esteem
Foot worship then, by definition, is the act of expressing reverence in a ritualistic manner to show extravagant respect, admiration, and devotion to feet. Of course the feet are attached to a person, so by worshiping the feet, you are, in essence, worshiping the individual they are attached to.
There is no magic “one size fits all” form of worship. The fact of the matter is that every person is different and how they like to worship or have their feet worshiped will differ, depending on the individuals involved. To some, foot worship automatically assumes a D/s relationship; to others it does not. Communicating likes, dislikes, expectations, etc., to each other before even beginning a foot worship session is the best way to ensure both parties will enjoy it.
As mentioned earlier, there are many different ways to worship a pretty pair of feet. What you both may enjoy one day, you may not enjoy the next. Part of being skilled in the art of erotic foot worship is the ability to discern what method of foot worship will best meet her needs at the moment. If she has had a long and strenuous day, have her sit down in a comfortable chair, take a spot on the floor in front of her, and begin massaging her feet. There are many ways to give an erotic foot massage; you can use your instinct and imagination, or you can read one example in the art of erotic foot worship.
Another way to worship her feet is to bathe them. Fix a pan of warm water with bath salts or set up the foot bath for her. Remove her footwear, rub her feet gently, then place them in the foot bath to soak. While they are soaking, place a couple of towels in the dryer to get warm. You can also use a pumice stone, body scrub, or loofah, to exfoliate the dead skin from her feet. Right before you take her feet out of the foot bath, remove the towels from the dryer and lay them out to wrap her feet in as you remove them from the foot bath.
Worshiping her feet can be a big part of foreplay, too. With thousands of nerve endings in the feet, they are super sensitive to outside stimuli. Start with light, tender kisses to the toes, followed by light tracing of the tongue over the foot, and back to light, tender kisses. With just the right touch, in just the right place, you can really get her erotic juices flowing.
If you are in a D/s relationship, kneeling in front of her naked, worshiping her feet, while she remains fully clothed (as is also common in the clothed female, naked male fetish), is a good way to symbolize her superiority over you. Licking the soles of her feet, symbolically licking the dirt from them to clean them, is a another way of showing your subservience. Foot worship within a D/s scene is a little different than erotic foot worship. Both types can share some of the same elements, but the dynamic is different.