Ahhh, i am going to answer here because i love the topic, but (granted its welcome) my answer comes from the Dominant point of view xD
I absolutely adore anything with degradation and humiliation. I am utterly sadistic in this sense.
There's something very intriguing for me, (and erotic) from a mental and thereafter physical standpoint when you can bring someone to the point they lose themselves in primal urges and behave/succumb to that sensation.
Allowing someone to enter the fantasy of their dirtiest, filthiest, and most subservient mindset is very powerful and beautiful.
Washing your hand through their entirety, rising them in a deepened sub space with words and actions, pushing boundaries to allow them to let go and feel entirely vulnerable and exposed.
Their body following suit with confusing or required reaction before tipping over the edge and releasing that pent up frustration and hunger, finally washing away everything they needed to get there in the scene.
Then in incredible contrast, the tenderness, the reassurance, the connection, love and respect given to your partner in aftercare, making them feel safe, bringing them back to being their every day selves and allowing the euphoria to settle.
This is why i am aroused by this element of D/s, its extremely penetrating psychologically, and it can be something very subtle such as instruction to remove clothing where this embarrasses the individual or teasing gestures when the other is feeling shy and blushing such as 'you are getting wet/hard for me right now aren't you, even though i told you not to...', right through to the more imposing such as being made to beg, bark and do the bathroom outside like a pet, or service a multitude of friends or strangers being labelled a pussy/cock slut on demand. Whatever degree it can be completely shifted to the experience level or desire of you and your partner. It can make some people feel uncomfortable depending on the severity of play or due to their own context/needs.
Overall those experiencing a session require attentiveness, connection and security as verbal humiliation (as it is so mental) impacts deeply.
Always communicate likes, soft and hard limits, safe words and so forth
And for fucks sake's, AFTERCARE the shit out of each other and normalize with immediacy.
The worry, regret, inner disappointment and disgust, the fear and so forth are completely normal reactions once you come down from the session. You are conflicted with societies views, your own impression of yourself, what you think others think, and the overthinking in general is entirely common.
The sooner the Dominant deals with lifting the person back up and getting back to normal with aftercare, the better it will be, and the more likely the person doesn't associate a scene with anything negative, or even worse (and possible if aftercare isn't done) with your relationship outside of the session. Make your partner feel secure at all times.
V.