There is beauty and wonder in Dominance and submission--from soaring heights to crushing depths. At its best, we tread upon the edge of the infinite and dare to touch the holy. This, that awareness of what we are, how small we are in the face of an unsympathetic universe, to lose ourselves in another, this is why we do this thing.
It is good, worthy, and important. There are places in human experience that can only be reached by this path. Fear not.