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One heels on the left, presumably, to avoid any possible interference with the master's weapon hand, which, in most cases, is the right hand. - (Plunder of Gor, Chapter 63, Sentence #420)

For example, if a line of slaves were given such a command, it would be unaesthetic if some of the slaves turned one way and some another. The lifting of the head exposes the throat nicely for its encirclement. That the lifted head is turned to the left has an affinity with a number of other practices, the shackling of the left ankle, or the left wrist, the heeling of a master on the left, and so on. One heels on the left, presumably, to avoid any possible interference with the master's weapon hand, which, in most cases, is the right hand. I have never seen a girl heel on the right, but I suppose it could be done. A left-handed master does sometimes have the slave heel him behind his back. To be sure, there is latitude in such matters, with respect to distance and location. - (Plunder of Gor)