heel

a slave kneels just behind her Master's left foot,as He moves she remains just behind His foot, never coming in contact with Him at any time..

an example

softly a girl melts to her knees just behind her Master's left foot, with every movement He makes she remains just behind his foot without touching Him at any time

quotes

"The Forkbeard turned about and, one arm about Pudding, the other about Gunnhild, started from the dock. Hilda followed him, to his left. 'She heels nicely,' said Ottar. The men and bond-maids laughed. The Forkbeard stopped. Hilda's face burned red with fury, but she kept her head high. Pet sleen are taught to heel; so, too, sometimes, are bond-maids; I was familiar with this sort of thing, of course; in the south it was quite common for slave girls; in various fashions in various cities, to heel their masters. Hilda, of course, was a free woman. For her to heel was an incredible humiliation. The Forkbeard started off again, and then again stopped. Again, Hilda followed him as before. She is heeling!' laughed Ottar."
Marauders of Gor page 123

"He turned about and, with his weapons, strode from the camp. I followed him, at his heel, where a slave girl belongs."
Slave Girl of Gor page 109

"The girl normally heels a right-handed Master on the left, that she not encumber the movements of the weapon hand."
Magicians of Gor page 117

"These things vary, I learned from city to city, and depend, also, on such matters as context and conditions. In a market, in the crowding and jostling for instance, a girl may follow so closely she pressed against the back of his left shoulder. Girls seldom follow behind and on the right. If she is thusly placed it is commonly a sign she is in disfavor. If more than one girl is involved, she who follows most closely on the left is generally taken to be in highest favor; girls compete for this position. In an open area, such a the fields in which we trekked, the girl is placed some five or ten feet behind, and on the left. If he must move suddenly she will not, thusly, constitute an impediment to his action."
Slave Girl of Gor page 30