Is intimacy ever involved between a dominatrix and her slave?

Why do i want to incorporate this into my bedroom life? I want my woman to whip me hard, i want her to control me completely but i want to be able to be intimate with her as well under her direction of course, i want to be degraded by her and i do not know why, is this normal? Can you incorporate this into your bedroom then change back to normal once you are done for the night?