A part of Domestic service which is very intimate is personal grooming. If you are allowed to groom your Master or Mistress or want to learn how, here are some helpful tips that you can use in your daily routine.
Before Bathing
Make sure that you have all of your supplies ready for use:
Shampoo
Conditioner
Soap or Body Wash
Shaving cream
Razor
Exfoliating scrub
Wash cloth
Towel: Find out whether they need one or two. Sometimes females need two as that is one for their body, and a second for their hair.
After Bathing:
Deodorant
Powder (If They use it)
Foot spray
Hair Brush or Comb
Undergarments
Clothes
It is important to bathe your Dom properly for many reasons. Number one is for health reasons, and then personal reasons of their own follow.
How to properly bathe: When bathing you want to start from the top and then work your way down to the bottom. One would say this is for obvious reasons, but, you would not want to be washing your Dom’s face with the wash cloth that you just washed your Dom’s anus with. A good habit to get into would be to get your Dom’s body including hair completely wet, wash their hair, rinse, put in conditioner and leave it in, then move onto washing the body. This gives the conditioner time to do the job it was meant to do. When it comes to the use of different soaps, be aware that not everyone has the same skin type.
Nails:
When trimming nails it is best to use metal nail files instead of using nail cutters or emery boards. The reason for this is that nail cutters can cause damage to the nails by splitting the nail beyond the bite of the clippers, and also make the nail look ragged. Emery boards can chafe not only the nail itself, but the skin of the fingers. If your Dom has dry hands, be sure to have lotion handy to massage the dryness away. Plus it is relaxing to have ones hands and feet massaged with good lotion. Always think ahead to what could be pleasing to your Dom.
Soaking Hands and Feet:
If your Dom works all day, or even if he or she doesn’t any time is a good time for a hand or foot soak, and is also very good for the skin, muscles, and joints. All this takes is a tub big enough to fit whatever appendage you are working with, hot water ( Using a tea kettle to reheat the water is always good.), Epsom Salt, and a dash of natural oil such as grape seed, almond, or jojoba. (Please check to see if your Dom has any allergies to these items before using them.) You can use a ¼ cup of Epsom salt, and if they have really sore feet or hands from arthritis or other ailments, you can also add in a table spoon of Dead Sea salt. For scents, use chamomile, sandalwood, or lavender depending upon their preference. Make sure a new clean towel is ready for when they are finished soaking and dab their hands and feet dry, don’t wipe, as you don’t want to wipe off all of the moisturizing oil, only the water. This is also when a nice massage would be good. Be wary of the different pressure points within the hands and feet, as it is possible to undo the relaxation that you just did. There are many charts for pressure points available on the internet, and in books.
My information comes from my personal service, research done on the internet, books, and magazines over the years.
Good luck and happy submitting
My name is lunaKM and I’m a full-time stay-at-home submissive in a D/s relationship.
I started blogging when I was exploring D/s online in 2003. I needed advice, mentors and helping hands. Since then I've made it my mission to help novice submissives understand themselves and the services they wish to provide. 
Don’t forget cleaning the clothes! My Mistress lets me clean her gloves and boots to keep them soft and shiny.
Cleaning Master or Mistress’s clothes and boot blacking are definitely important, but this was more about what is under the clothes. Thank you for the comment. :)
Hi. I have just got myself a submissive mistress. I have never been dom before and wondered if I could get some tips? Do I punish and reward? What other advice could you give? Thanks
Since this isn’t Dominant Guide and I’ve never been dominant I’m not going to be able to give you a lot of tips. What I can say is that every relationship is different and you will need to work it out with your partner as to what is expected and desired. I suggest you join FetLife.com (free) and ask in the novice dominants groups you are likely to find. It’s a great resource for those learning.