When she gets home from working, she knows what she needs. She needs her sore, stinky and dirty feet serviced. She calls her slave to her when she sits and she puts her feet up. She is happy to allow him to take her shoes off and start to massage the sole of her foot with his tongue. She doesn't care that her feet are stinky and sweaty. She wants his tongue to service her feet and that is what she will get.
Lady Anna Solis and Princess Rachel know that sharing the torture of a slave is proof they care for each other. They go for a drive and take their slave with them. When Lady Anna decides she wants her shoes and feet cleaned, she calls the slave to attention. She lets Princess Rachel spit on the sole of her shoe to have the slave lick it off. Then he is ordered to lick and suck her feet and toes until she is feeling better.