When did all of this start? No one knows but it will continue as long as someone wants to control another person and others wish to be controled
the Ideal couple for this life style is as follows
A Sadist: Person who enjoys inflicting pain, usually sexually--Usually the Dom
A Masochist: Person who enjoys pain, usually sexually usually the sub
now you do not have to be either to enjoy BDSM---but this group usually enjoys it to the fullest extent and push the limits
you could just be a person who just enjoys being tied up --but no pain
you could be just someone who enjoys taking control and making your partner act like a dogie or a horse but no pain
but back to the history as you will see --some of the earliest art and photos contained this theme