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To trample generally means to crush underfoot. Stampeding animals often cause injury to people by trampling them. During the Middle Ages, horses were sometimes trained to trample opposing soldiers.
In the card game Magic: The Gathering, trample is a common ability given to creatures allowing the creature to deal the remainder of their damage to the opponent after blockers receive lethal damage.
Trampling may also have a sexual connotation, especially when in relation to BDSM. It involves the act of the dominant stepping on and walking all over the submissive. This can be done sensually and barefoot, or more to cause pain with high heels or boots or other shoes. The psychology behind it is that the submissive is "underfoot" the dominant, and is below him/her (literally and figuratively).