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BDSM activities can be divided into two types:

Bear in mind that all of these activities are rarely ends in themselves. It is generally the case that BDSMers engage in BDSM activities to get a psychological result. Thus, someone who looks for a heavy flogging session isn't going to be doing it just to get red marks or bruises. Likewise, someone engaging in humiliation isn't doing it just to feel bad or insulted. Instead, they're going to be looking for some positive psychological, spiritual, or emotional outcome.

Note that most physical activities don't leave permanent marks. There are some exceptions to this, notably branding and scarification---and perhaps piercing and cutting---where a permanent mark or change is made to the person's body, but these not very common.