Any experience about how to perform foot licking and the advantages and benefits it brings to the dominant partner. It would be even better if you could also provide some guidelines or precautions for foot worship.
Not sure how to answer. Maybe ask your Mistress what she likes first? Some women love to have their feet licked top, bottom and in between their toes. I know it relaxes my wife/KH. My wife also likes toe sucking a great deal. Sucking her toes like you're sucking a small clitty, is wonderful for them, not to mention the submissive feelings that rush through you. Mistresses feet attention can be a huge thing for them. Licking, sucking them is a wonderful thing for the both of you. I will say this, taking their shoes, boots off after a long day and smelling their feet is a turn on. You licking them after a long day is HOT
I think if see something on her feet then yes. Otherwise, it's pretty safe to lick away. Foot worship is a nice thing to provide your Mistress. I also rub/massage my wife's/KH's feet. I apply lotion to them as well. Very relaxing for them and good for you to do for them. Remember, we're in service to them to make their lives better and easier.
My Madam loves having her feet kissed,licked and sucked on. Just try different things and see what she enjoys the most.
If you're providing foot worship service to your dominant partner for their pleasure, then stick to what they enjoy. I'm a foot fetishist, so I can never get enough of my wife's feet. She loves foot massages and sensual foot kissing, so that's how I serve her for her pleasure/happiness. She knows how much power her feet have over me so she sometimes allows me to lick her dirty feet clean, smell them, suck her toes, etc., but that's her gift to me, not the other way around. Just be sure to know the difference between her pleasure and yours. Good luck!