Dear Steve,
You are a grown-up. It's time to put away the childish definitions you grew up with and accept yourself for what you are: a loving, sensuous man who is making his wife very happy.
To address the shame or guilt of your new found freedom of expression, ask yourself a few questions:
Are you harming anyone?
Are you giving your wife pleasure?
Does what you do when you play bring yourself pleasure?
Are the boundaries and safeguards between the two of you protective and loving?
Is she asking you do to do something you don't want and can you say no?
Does she respect you any less or more because of your gift of submission?
The more you look at it as what goes on between the two of you and not the rest of the world, then it's easier to remove any lingering doubts. It's your relationship, however, you define it, and if its healthy and working for both of you, then continue.
If you need to forgive yourself for stepping outside your childhood boundaries, then do so. With forgiveness comes acceptance.
Ruby