Yes

"Okay, what do I have to do?” Hilda asks.

The bandit leader motions to one of the other goblins, who quickly brings the flat end of her spear down across Hilda's behind, causing her to yelp out in pain.

“That's what do I have to do, my queen,” she corrects.

Hilda responds in the correct manner this time.

“I want you stand stand up and walk to the middle of the road,” she says.

Hilda does as she's told. The goblins soon follow standing in a circle around her.

“What do you want me to do now, my queen?”

“I want you to say that you are Queen Grilda's slave,” says the bandit leader, her name apparently Grilda.

What are the odds her name would rhyme with mine?

Hilda hesitates, and soon feel another swat across her backside.

“Say it,” Grilda growls.

“I... I am Queen Grilda's slave,” Hilda says nervously.

*SWAT*

“Louder,” she commands.

“I am Queen Grilda's slave,” Hilda says in her normal talking voice.

*SWAT*

“Louder!”

“I am Queen Grilda's slave!” Hilda shouts.

*SWAT*

“I AM QUEEN GRILDA'S SLAVE!” Hilda screams at the top of her lungs, the cry echoing through the rapidly darkening sky.

“Good,” Grilda smiles. “And what will Queen Grilda's slave do for her?”

“...anything?” Hilda asks, hoarsely, as she tries to catch your breath.

“Very good. Now, it is my decree as queen that slaves cannot wear clothing,” she says with a wicked grin. The rest of the goblins giggle at what's about to happen.

Hilda's heart is pounding away in her chest, her breathing is ragged, her face turning a deeper shade of red than she ever thought possible

“Strip for me, slave,” Grilda commands. She's staring directly at the woman. Hilda can only hold her gaze for moment before looking away.

Then the knight starts fiddling with her corset, when Grilda interrupts her.

“Not like that,” she says in an tone that could almost pass for child-like irritation. “Do it again. Do it... sexy. Do it while you dance!”

The rest of the goblins hoop, holler and cheer at this. Hilda lets out a sigh and awkwardly begin to sway her hips, while trying to undo the laces on her corset. The goblins begin to pound their weapons on the ground around her, and she soon begins to work up a proper rhythm.

The corset comes off, and Hilda starts rubbing it over her body before throwing it away past the goblins and out of the circle.

The bandit queen smiles lustfully. Hilda put her hands on her head and begins to gyrate and shake her belly. The rest of the goblins let out another wave of shouts and cries.

Their enthusiasm is contagious, or perhaps its simply the fear and adrenaline pumping through her, but something in Hilda's brain clicks and she starts to kick her performance up another notch.

She slides to her knees, bringing her face inches away from Grilda's, before standing back up and away from her while simultaneously undoing the clasp on her bra.

She slowly begins to slide the straps off, until her hands are the only things keeping the bra from falling off of her body.

The knight-turned-stripper turns back around to face Grilda. She stares directly at into the goblin's eyes, never pulling away from her gaze. Both are breathing even heavier now, and the bandit queen's face is also starting to become flushed.

All this physical exertions is starting to take a toll on Hilda. She's heating up significantly and is now covered in a layer of sweat.

The performance is apparently having an impact on some of the other goblins as well. The nearly-nude human is keeping her focus on Grilda, but she does occasionally catch one of the others in her peripheral vision, sliding a hand down their pants or tugging on one of their own nipples.

Hilda completely removes the bra, spinning it around on her finger before tossing it at Grilda. It lands on her head, and so captivated is she by the performance that she leaves it there for a few moments as Hilda bends her knees and starts shaking her ass.

Hilda's dancing becomes more animalistic as she works her way down to her panties. She plays with them a little bit. First tugging them up to give herself a wedgie (and Grilda a view of your slit) then back down, before sliding a finger into her completely soaked pussy.

The wet sounds of skin slapping on skin fill the air as she pulls her hand out of the panties and pushes it into Grilda's face.

The horny goblin immediately grabs the offered finger, sucking it clean before Hilda can pull it away.

The knight goes back to playing with her panties, gradually pulling them down her legs and then suddenly lifting an ankle to pull them off entirely.

Then she starts grinding the now-liberated fabric against her dripping slit, moaning like a whore the whole time.

Once they are completely drenched and reeking of the woman's scent, Hilda completely exposes herself to her captives. Then she kneels before Grilda, presenting the panties to her as a gift.