What makes anything erotic is the dynamic surrounding it. For Taken In Hand people the power dynamic is what causes the erotic feelings/tensions. That tension and subsequent release is what causes the pleasure. Fear, pain and pleasure are on the same neural circuits. For some, increasing pain also increases pleasure.
Another part of the Taken In Hand dynamic that speaks to the mundane is that there is order. When things are ordered they are comfortable. Using fear to create order increases pleasure and comfort.