The term domestic can mean a few different things in the context of BDSM play.

On simple terms, a professional dominant can use the term domestic to describe where he or she holds sessions, as opposed to a dungeon setting.
Sessions held in a domestic setting can involve virtually any activity that can be involved in a dungeon setting, provided the equipment is available.

Domestic play, on the other hand, refers to the activities that take place within the session. Domestic servitude will often include such things as cooking and cleaning. An example of domestic servitude could be maid training.

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