Final answer:
The behavior described is known as domination and submission.
Step-by-step explanation:
The behavior described in the question is commonly known as domination and submission. It involves one person taking on a dominant role and another person taking on a submissive role in a sexual context. In this case, David is assuming the dominant role by ordering and controlling Michael's actions through the use of a leash and collar. Domination and submission is a consensual sexual practice that some individuals engage in as a form of sexual expression and exploration.