Mistress Kylie knew how sensitive foot soles are and that is what she used to torture. She knew that torture did not just have to come from beating someone up. It could also be something as simple as tying someone up and tickling his feet and especially the soles of their feet. It was a lot of fun for her as the guy squirmed and tried to break free but could not. He peed his pants.
Lady Stefanie needed to get her hands on some documents that this guy had but had refused to give to her. So she made sure that she was near the documents before she started to tickle him and to make him laugh uncontrollably as well as to disorient him. It was fun seeing his reaction and she liked what she saw. Above that, she was able to get the documents she wanted.