I think that foot worship is pretty unambiguously a D/s scenario -- any sexual situation where one person is worshipping the other is hard to separate from dominance and submission.

It's not part of *my* BDSM, though, because I can't stand having my feet touched. They're way too ticklish. So you'd have to worship them from afar.

(also, Mr.Foot, I love your avatar. What a gorgeous woman!)