My sub enjoys being made to wear a plug and told to go shopping or run errands. I made a bra for her that had exposed nipples and made her wear that on several occasions and prohibited her from wearing a jacket so her nipples were very visible.
I force her to undergo ass training at random times when the thought occurs to me, more often than not when I know she would rather not, like going to a school concert for her kids, the more inappropriate the better it seems.

As far as domestic situations, she has been made to act as a foot stool for me while I watch TV, any complaints or whimpering resulted in some riding crop corrective measures.

She has been kept in a dog kennel in the corner of the living room with a ball gag and hood on for extended periods of time, or in a closet confined and restrained while I went about my usual household tasks or watched TV.

All of the above are ideas or thoughts that she has expressed though and I put into action for her.