Lickspittle

 Lickspittle-noun-a person who behaves obsequiously to those in power

"The dominatrix I hired, Dora the Explorer, quickly turned me into her sexual lickspittle in the motel as she inflicted pain and pleasure all at once."

The term derives in two parts.  FIrst, Old English liccian that mean to pass the tongue over the surface or lick up.  The Proto Germanic likkon means to lick.

The second part of the term, spittle, is late 15th century Proto-Germanic spait, to spit or spew.