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Beating on the feet can be pleasurable, especially for people with something of a foot fetishist.
Be careful: feet are sensitive and delicate, and full of little bones that can be easily broken. See the article on safety. Walking on sore feet the next day can be exciting for somebody in BDSM. Walking on clutches or having to use a wheelchair wouldn't.
So, if you are going to beat on the feet, use a light cane or a short and thin wooden board or ruler, a flogger or a strap and hit just for the sting, not for the pain, not for bruising or cutting the skin. Hit only on the soles, not on the toes or the upper side of the foot.
For information on the traditional feet punishments, read the article on bastinado and falaka.
And now to the game.
As usual, I'm going to write as a male top punishing a female bottom, but modify it to suit your taste.
The traditional "falaka" position, with the punished on her back, and her feet bound high is my favorite, because the punisher can see the face of the punished, which is not possible when hitting on the buttocks. If the feet are high enough (about waist height), the punished cannot reach the knots to free herself, so binding the hands is not necessary. Seeing the sub's watery eyes, the useless movements of the hands, the body writhing in pain is pure pleasure for a top.

The bottom, with her unbound hands not able to free her from her predicament, will see her vulnerable feet up there, the top movements, the lash coming, she will fear the pain while being powerless to avoid it. Her feeling of helplessness, of being at the mercy of the other will also be overwhelming. (For details and more positions for the feet, see Positions )
The feet could be bound together, for hitting both simultaneously, or separated. If bound together, as the pain mounts the bottom will try to protect one foot with the other, alternatively. It's a nice show, but if you want to hit without distractions, tie the big toes one to the other. Binding them also backward to the ankles will leave the feet parallel and tense, unable to move (see a detailed explanation here)

With most instruments, hitting with just a flick of the wrist will be enough. Only for a strap you could need to use your forearm, but don't overdo it.
It depends on the results you want. If you have time enough, bind the bottom in the chosen position, get yourself a chair, sit down comfortably, and test the bastinado technique. Hit just hard enough to get some reaction from your bottom, and keep hitting regularly and rhythmically on both feet simultaneously or alternating between them. Check closely the bottom’s reactions because after some time it can be actually hard on her. She can get a high from endorphins but remember also that people went crazy when so tortured.
The usual sensual technique of hitting from soft to hard, caressing the feet, and beginning again can get her to sub-space.
If what you want is punish her, hit harder (but be careful). Change rhythms, change places.
Hit only on the soles. If you hit on the toes or the upper side, the risk of damaging her is greater.
Test her reaction when hitting on the balls of the feet, the arc (the middle of the feet, to the inside), the external edge, and the heel, and use that knowledge to your benefit.

In my belief, the hits on balls of the feet and the arcs sting more, and are better for a sensual result, the edges and the heels are more painful.
Some people recommend to make the punished walk some time on her bare feet after the punishment. Supposedly, this compression prevents or reduces the swelling produced by the punishment. Cold (ice, gel pack, cold water) also does.
And of course, hugging her and telling her how much you love her is going to help a lot to soothe the pain.
Published: 05/09/03
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