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Throughout the books their is a myriad of positions and commands that are found.  
I hope that I have thoroughly researched them all adequately
 and all will be supplied with a corresponding quote.
  there are a few major positions used online that are not in the books as I know of 
but I will be including them as well with a note to that effect

Positions and Commands

-position/command- -description- -corresponding quote-
-=Bara=- laying on stomach, legs stretched out behind with ankles crossed, hands crossed in the small of the back, left cheek to the floor and fall motionless. "Bara," said Mincon to Tula. "Bara," said I to Feiqa. Both slaves immediately to their bellies, their heads to the left, their wrists crossed behind their backs, their ankles also crossed. It is a common binding position. We did not bother to bind them, however. It was enough that they lay there in this position
Mercenaries of Gor
-=Beg for love=-   "You!" said the trainer, gesturing to another girl with his Whip. "To his feet! Beg for love!" This girl hurried forward and knelt before Drusus Rencius. "I beg for love, Master," she whispered. "You!" said the trainer, indicating another girl. She, too, hurried forward. She knelt before Drusus Rencius, her palms on the floor, her head to the very tiles. "I beg for love," she whispered. "I beg for love, Master."
Kajira of Gor 139
-=Beg to be used=-   You may now beg to be used as a slave," he said. "I beg to be used as a slave, Master," I said.
Kajira of Gor 339
-=Belly=- there are many ways to belly, it is used to placate, beg, plead, show devotion and numerous other reasons... regardless of the reason and ways, all are simply belly to the ground,  "I belly for you!" said the girl, her head down, over my foot.
She held still to my ankle, her small hands about it. Her hair was about my foot. I felt her hot lips press again and again to my foot. She looked up. "Buy me," she begged. "Buy me!" the marks of the rush mat were on her back. She was a blonde, and short, voluptuously curvaceous. She drew her legs up then, and lay curled on her side, looking up at me, her hands still on my ankle. "Buy me," she begged.
Magicians of Gor pg 35
-=Binding=- The slave either standing or kneeling lifts their head to the left to be leashed if desired, ankles crossing and hands pressed behind them wrists crossed in preparation for Binding. "Standard binding position,' he said. I was prone. When a girl is prone, the standard binding position is to cross the wrists behind the back and to cross the ankles. I took this position instantaneously."
--Slave Girl of Gor, page 125
-=Blanket=- no matter the position the moment something is thrown over the slave they go silent and motionless until released by a Freeman "I then threw the second blanket, the top blanket over her, covering her completely. When a blanket, or cloak, or covering of any sort, is thrown over a slave like this she may not speak or rise. She must remain as she is, silent, until the master, or some free man, lifts the covering away." 
Explorers of Gor pg 94
-=Bound by Masters Will=- slave remains  as if bound without any actual restraints on them simply by the Free's will. "She wore the `bonds of the master's will.' Grunt had put her in them. She could not rise to her feet. Yet there was not a rope or strap on her body. She was `bound by the master's will.' She could not move from this position unless, at the word of a free person, she was freed from it. To break the position otherwise is to be instantly slain."
Blood Brothers of Gor pg 248
-=Bracelets=- Back is to the Freeperson , head turned to the left tipped up (for ease of leashing if desired) hands pressed behind the  back for ease of bracelets being put on the slave "Bracelets," he snapped. She put her head in the air and placed her hands behind her back. 
Hunters of Gor pg. 146 
-=Capture=- prone to the floor, knees lifted feet flat to the floor, hands to side "On your back," he said, "knees raised, heels on the floor." I then lay before him, in a standard, supine capture position. 
 Kajira of Gor. P 422 
-=Collar=- Standing or kneeling the slave before the Free lifts  her head high to fully expose the collar, hands moving to press to the small of the back so the collar might be read with ease He then regarded the Lady Constanzia. He snapped his fingers and said, "Collar!" She rose uncertainly to her feet, and approached him. She had, of course, had my example from which to profit. She, to my surprise, however, stood closer to him than I would have expected, and more close to him than I had, originally. It seemed she was improving on my example. Was she then, in such matters, to be my teacher? She lifted her chin delicately. In response to the "collar command," the slave approaches the male, that he need not inconvenience himself by coming toward her. She then lifts her chin and places her hands behind her. It is thus that a girl renders herself vulnerable for the reading of her collar. In this case, of course, the Lady Constanzia's hands were already behind her, her small, lovely wrists closely linked together, well pinioned, in the steel of slave bracelets. - Witness of Gor, page 357-58
-=Crawl=- forearms and knees, head almost to the floor hips lifted and crawling using your forearms and not hands so body is as close to floor as possible I pointed to the stones at my feet. "Crawl," I said, in Gorean. The girl slipped to her belly, and, as a slave girl, crawled to my feet. She put her lips to my foot; I felt her hair over it. 
Tribesmen of Gor...pg. 78 
-=Display=- hands behind neck, elbows back, feet shoulder width apart, fully revealed to the Master, if ordered to display, slave is to strip first so that nothing is hidden neath clothing The auctioneer did not strike her with his whip. He merely took her arms and lifted them, so that the position chain, attached to each side of the sales collar lay across her her upper arms. Then he had her clasp her hands behind the back of her neck, so that the chain, on each side of the collar, was in the crook of her arms, and she was exposed in such a way that she could be properly exhibited. 
p.36 Explorers of Gor 
-=Down=- regardless of position they are in, if commanded to this they simply throw themselves to their belly fall silent and go motionless "When the command 'Down!' is heard," said a man to us, "you will fling yourselves to your belly instantly. When the command 'Up!' is heard, you will stand, instantly, arranging yourselves as you are now. "Yes, Master," we said. There is a common command, familiar to all female slaves, "Belly," which brings us instantly to our bellies before he who commands us. This particular command expression, however, was not used in this context. I speculate that this was because the context of the two commands, and certainly their connotations, was so different. It is one thing, for example, to aesthetically and beautifully signify submission by bellying, perhaps on the furs at the foot of the couch, we being permitted upon them, and quite another to fling oneself down so that quarrels may be suddenly fired from behind one. Too, normally in a "belly command" one orients oneself toward he who commands, not away from him. 
Witness of Gor, page 604.
-=Female Submission=- kneeling back, hands lifted and crossed, head tipped forth between the arms "Assume the posture of female submission," I told her. She did so, kneeling back on her heels, her arms extended, wrists crossed, her head between them, down. She was weeping. 
Tribesmen of Gor, page 359
-=Finger Snaps=- if a Free Snaps their fingers the slave moves instantly to their feet, if they are already at their feet or a second snap is sounded they then stand as slave "And if they should snap their fingers and point to the floor?' I asked. `Then I would swiftly lie before them, and as a slave,' she said."
Rogue of Gor pg. 102

"I snapped my fingers. She knelt. I snapped my fingers again. She stood."
Fighting Slave of Gor pg. 215

"I snapped my fingers.
`Yes Master,' she said. She approached the sound and knelt before me."
Fighting Slave of Gor pg. 248
-=Gorean Bow=- kneeling, thighs parted, back arches severely, head to the furs almost to feet the back is so arched, hands to either side on the furs, body bowed up in a arching bend, very painful to hold for longer then say 10 minutes "Behind him stood a blond slave girl, naked, her hair falling to her waist. I gathered she belonged to him. "We are victorious!" said the man to her, brandishing the ring. Over her iron collar she wore a heavy leather Kur collar, high heavily sewn, with its large ring. He thrust her two wrists, before her body, into the ring he had cut from the Kur. He then tied them inside, and to, the ring. He then, from his belt, took a long length of binding fiber and, doubling it, looped it, securing it, at its center to the ring, leaving two long ends. He then threw her, on her back, over the body, head down, of the fallen Kur. He took the two loose ends of the binding fiber and, taking them under the body of the fallen Kur dragged her wrists, elbows bent, over and above her head; he then, bending her knees, tied one of the loose ends about her left ankle, and the other about her right. It was the Gorean love bow." Marauders of Gor, page 261
-=Hair=-
[Note the silent command in the quote]
regardless of position the slave gathers their hair and holds it up to the Master

-note also the silent hand command here-

"I held my left hand open, at my waist. She stiffened, and looked at me, angrily. I opened and closed my left hand once. I saw her training in Gorean customs had been thorough. But she never thought that such a gesture would be used to her. She came beside me, and a bit behind me, and, crouching, put her head down, deeply. I fastened my hand in her hair. She winced. Women are helpless in this position."
 Beasts of Gor pg 409
-=Handle Tie=-  

“Put her in the handle tie,” I said. “Yes, Captain,” said the man, grinning. Her fur boots were pulled off and her ankles were linked by leather thongs; she had good ankles; the leather permitted them a separation of some twelve inches; the tether on her wrists then was taken between her legs and lifted up and behind her, where its loose end was tied about her neck. The linking of the ankles prevents the slipping of the handle tie, and controls the length of her stride when she is put in it. A given pressure on the handle tie, exerted through the strap at the back, permits it to function as a choke leash; a different pressure permits her to be hurried along on her toes. The handle tie is usually, of course, reserved for naked slave girls. “Oh,” she said. The man had looped his fist twice in the strap, tightening it. She looked at me. She was in the control of the man who held the strap.
Beasts of Gor

-=Harta=- command meaning 'faster' I shouted to my tarn, in Gorean and in English. 'Har-ta! Har-ta! Faster! Faster!'
Tarnsman of Gor pg 57

“Har-ta!” said Imnak to the girls. “Har-ta!” The expression ‘har-ta’ is Gorean. “Faster! Faster!”
Beasts of Gor pg 191

-=Heel=- a slave moves to the side of the Free where the weapons hand is NOT, generally the left side, though if the Free is a lefty, the slave would go to the right. (that is in case weapons are drawn swiftly the slave is not injured or decapitated or whatnot) if the Free is stationary the slave would kneel appropriately behind on the proper side, if the Free is moving the slave would follow at the heel from one pace to several depending on the situation and command of the Free "Heel," I said."Yes, my captor," she said. I turned to regard her. She would follow me, behind and on the left. In this way the sword arm is not likely to be encumbered. 
Vagabonds of Gor, page 381

These things vary, I learned from city to city, and depend, also, on such matters as context and conditions. In a market, in the crowding and jostling for instance, a girl may follow so closely she pressed against the back of his left shoulder. Girls seldom follow behind and on the right. If she is thusly placed it is commonly a sign she is in disfavor. If more than one girl is involved, she who follows most closely on the left is generally taken to be in highest favor; girls compete for this position. In an open area, such as the fields in which we trekked, the girl is placed some five or ten feet behind, and on the left. If he must move suddenly she will not, thusly, constitute an impediment to his action. 
Slave Girl of Gor...page 30
-=High Harness=- generally already kneeling... head is lifted as high as possible  hands behind her in the small of her back for binding "Lift your head, " he said. "Higher. Higher!" She looked up at him, her head far back, the leash on her throat.... "You need not now keep your head in high-harness position," he said to the girl. She moved her head. 
Mercenaries of Gor...pgs 308-309 
-=Juice=- simply put... to be wet... sexually aroused 'Before he had taken the sack from its shelf he had ordered me to the floor of the utility room, to my back on the dusty boards. "Lie there and juice;" he had told me. 'Waste no time about it." I had lain there and, briefly, shut my eyes and thought of his might and power, and my helpless slavery, and then I was ready, almost in a moment, to receive his lie and had me swiftly.
Kajira of Gor 275
-=Kneeling=-
[silent command]
a silent command with the down sweep of the Free's hand indication to kneel immediately, the Free's fingers point to the spot they wish you, 
fingers closed = tower
fingers parted = nadu
I spread the first two fingers of my right hand and gestured downward, toward a place nearby in the sand. Immediately she knelt there, her knees widely spread. There are many signals by means of which such behaviors can be commanded. In this particular signal, one of several which, from city to city, might have similar import, the downward movement of the hand indicates that the girl is to kneel, the place where she is to kneel is indicated in effect by pointing, and the spreading of the fingers indicates how she is to kneel, in this case, in effect, in the position of the pleasure slave, the knees spread. 
Vagabonds of Gor, page 328
-=Kneel to the coffle=- the slaves kneel closely one behind the other and lift out to the side of them the appropriate wrist to be locked in a coffle
not to be confused with the display chain, often if kneeling to coffle its with a group capture/raid and the girls are -not- placed in the coffle by beauty/training
“Kneel to be coffled,” said one of the men. The girls knelt, closely, one behind the other. There were six wrist rings on the chain he carried. He placed the girl who had been whipped by Lady Sabina first in the coffle line. “Left wrist coffle,” he said. They lifted their left wrists, frightened.”
.Slavegirl of Gor, p 127
-=Kneel to the whip=- a slave pulls her hair over left shoulder and kneels with legs together, arms crossed over their chest and head to the floor turned also to the left slightly her back exposed for punishment.
bare in mind the slave would have already been striped, or will be striped for the lash as the second quote shows
I went to Targo, trembling, and knelt at his feet... I crossed my wrists beneath me and touched my head to the floor, exposing the bow of my back. It is the submissive posture of a slave girl who is to be punished. It is called
Kneeling to the Whip."
Captive of Gor, page 200

"Kneel to the whip!" said Samos Piteously she knelt, a slave girl. Her wrists were crossed under her, as though bound, her head was to the floor, the bow of her back was exposed. She shuddered. I had little doubt but what this slave knew well, and much feared, the disciplining kiss of the Gorean slave lash. Samos' sword was in his hand, thrust under the collar of her garment, ready to thrust in and lift, parting the garment, causing the robes to fall to either side, about her then naked body.
marauders pg 13

-=Leading=- a slave moves to the preferred/commanded side of the Free leaning over head near Their hip as they gather up their hair and offers it up to the Free. In a moment I had left the building, pulling the captive behind me, her head down at my waist, in leading position.
Mercenaries of Gor pg 399
-=Lean back=-
[silent command]
kneeling, leans back her hands behind her balancing her , palms to the ground, exposing her slightly bowed form He gestured to the grass, permissively. I sat back, on the grass, leaning back, on the palms of my hands. In this fashion one’s hands are rather behind one, and rather held in place, by one’s own weight. This position is one we are taught. In it, as is clear to us, we are more vulnerable.
Witness of Gor, page 61 
-=Leasha=- kneels with back to Free, thighs parted widely, wrists crossed in the small of her back, her head is lifted high and to the left with eyes lowered "Leasha!" he said. Immediately, responsive to this command, I flung my wrists behind me, separated by some two inches, and lifted my chin, my head turned to the left. I felt slave bracelets flung, snapping shut, on my wrists. I was braceleted. In another moment I was leashed. 
"Dancer of Gor" page 365
-=Modality of she-quadrupled=- This is generally used for punishment to reaffirm to the girl that she is indeed no higher then a pet.... When ordered into this the slave stays on all fours, like an animal, and cannot speak or reach for things with her hands. she is kept quite definitely as only a mute pet much like any sleen would act. Sometimes the slave is even taught tricks she must learn without the help of verbal clues.  In this form of slavery, which is commonly used for disciplinary purposes, or for the amusement of the Master, the woman is not permitted to arise from all fours; similarly she is not permitted human speech, though she may signify needs and desires by such means as cringing, and moaning and whimpering. Not permitted the use of her hands, save as a means of locomotion, she must also eat and drink from pans set on the floor, or, sometimes to satisfy her thirst, she must lap the water permitted to her from puddles or lick pillages from the tiles; too, it is no uncommon to chain her near her master's feet, while he dines, that he may, if he wishes, throw her scraps of food. She will also be taught tricks, through which paces she may be put for the entertainment of her master's guests, such things as begging, lying down, rolling over, and fetching his sandals in her teeth. And, needless to say, when her master wishes to use her sexually, it will be a position common to the she-quadruped.
 Guardsman of Gor p 225 

-=a good second quote as well=-

"Kneel!" commanded the free woman. Lale struggled to her knees. "Get on all fours," said the woman. Lale was then on all fours. "You are now in the modality of the she-quadruped," said my hostess. Lale moaned. "Esne," called my hostess. That woman, she who had earlier taken the Lady Labiena from the floor, came over. She, too, carried a whip, and was dressed in brief leather, rather like that of a warrior. At her belt was a chain leash. hostess made a sign and Lale was leashed. "Can you understand me, my little she-quadruped?" asked my hostess. "Whimper once for 'Yes,' whimper twice for 'No.' " Lale whimpered once. "Good," said my hostess. "You are a bright little she-quadruped." The chain shook, as Lale trembled. "Have you ever served as a she-quadruped before?" asked my hostess. Lale whimpered twice. "But you understand something of what is involved, do you not?" asked my hostess. One whimper. "For two weeks," said my hostess, "or more, if I choose, you will be chained in the darkness, in one of the back alcoves, serving there as a speechless animal any who may come upon you or desire you."
 Mercenaries Of Gor, pg 327-328 

-=Nadu=- thighs widely splayed, shoulders rolled back, head high, eyes lowered, tummy tucked in, palms down to thighs if not for use, up if are for use "Nadu!" he snapped. She swiftly turned, facing him, and dropped to her knees. She knelt back on her heels, her back straight, her hands on her thighs, her head up, her knees wide. It was the position of the pleasure slave.
Explorers of Gor page 77

"Come now, my pretty slaves,” said Ginger, “kneel straight. Back straight, heads up. Back on your heels there! Spread those pretty knees. Yes, that is the way men like it. Put your hands, palms down, on your thighs. Good. good. Excellent!” The girls now knelt in the coffle as pleasure slaves.
Savages of Gor, page 155 

"She knelt in the position of the Pleasure Slave but her hands on her thighs had unconsciously, pleadingly, turned their palms to me, and she no longer knelt quite back on her heels. It was as though she begged to be allowed to lift and open her arms and rise and come to my arms. But as I looked upon her sternly she turned her palms again to her thighs, knelt back on her heels and dropped her head, holding her eyes as if by force of will fixed on the plastic beneath my sandals. Her entire body trembled with the ache of desire.” Priest-Kings of Gor, page 234

-=Nadu=-
[thentis variant]
differs from regular nadu as the hands are pulled behind the back to cross wrists “The position of the Tower Slave, in which Vika knelt, differs from that of a free woman only in the position of the wrists which are held before her and, when not occupied, crossed as though for binding. A Free woman’s wrists are never so placed.  The position of the Pleasure Slave, incidentally, differs from the position of both the free woman and the Tower Slave. The hands of a Pleasure Slave normally rest on her thighs but, in some cities, for example, Thentis, I believe, they are crossed behind her. More significantly, for the free woman's hands may also rest on her thighs, there is a difference in the placement of the knees. In all these kneeling positions, incidentally, even that of the Pleasure Slave, the Gorean woman carries herself well; her back is straight and her chin is high. She tends to be vital and beautiful to look upon.
Priest Kings of Gor, page 46
-=Nestle=- curls in close to the crook of the Free's arm, generally left  unless they are left handed, then on the right side "You there," I said, "crawl to my arms." "Yes, Master," she said. "Nestle" I told her. "Yes, Master," she said. She nestled obediently in the crook of my left arm. ... Explorers of Gor, page 279 
-=Obeisance=- There are many different forms of this position though all have the same basic meaning behind it. Each is a show of female submission. 1) the slave kneels in nadu with her head lowered. 2) from nadu, the slave lowers head to the ground, placing her hands against the ground, palms lowered.3) the slave moves to her belly and slowly inches forward to the Master's feet and at that point proceeds to lick and kiss at them before bellying back somewhat. (this position is known among many as the "belly" position)  "There are many ways to perform obeisance. "I said. "I am a free woman," she said, " I know none of them." "I shall instruct you briefly in three," I said. " First kneel before me , back on your heels, yes, with your knees wide, wider, your hands on your thighs, your back straight, your breasts out, good, your belly in, good, and now lower your head in deference, in submission." "Now that," I said, " may not be exactly a form of obeisance, for authorities do not all agree, but for our purposes we shall count it as one. It is, at any rate, a beautiful position, and it is, certainly, a common position of slave submission." "Now" I said, " and this is clearly a form of obeisance, bend forward and put your head to the mat, the palms of your hands on the mat. Good. Now lift your head little and come forward, substantially keeping the position. Forward a little more." "But then my face will be at your feet," she said, "My lips will be over them!" "Yes," I said, "Good, now, put your head down and lick and kiss my feet." "I am a free Woman!" she said. "You are a woman," I said," now softly lingeringly, and lovingly, Good." "I am not a slave," she said. "All women are slaves, "I said " Imagine what this would be like if you were truly a collared slave." She gasped. "Now" I said, "for a third form of obeisance. You may belly to me." "I do not understand," she whispered. "There are various forms of bellying, " I said, and bellying may be suitably and pleasingly combined with other forms of floor movements, approaching the Master on all fours, turning to your sides and back, writhing before him, and so on. We will take a very simple variation, suitable for an ignorant free female who has not yet even begun to discover the depths of her sexuality." She looked up at me. "On your belly," I said. She backed off a bit , and went to her belly. her hair was before her face, as she now on her belly before me looked up at me. "Now inch forward," I said, " remaining low on your belly, and when you reach my  feet, once again, as before, lifting your head a little, tenderly and humbly, and beautifully, as though you were a slave, lick and kiss them. Good. Good. Now take my foot and place it gently on your head. Very good. Now place it again on the Mat, and kiss it again. Good. You may now belly back a little, humbly. I have not yet given you permission to rise of course." "Mercenaries of Gor" pages 409-411 

"Swiftly we assumed a common form of slave obeisance, kneeling, the palms of our hands on the ground, our heads to the ground. Many masters, though it tends to be rather associated, usually, with given cities, require this position of their girls, usually when they first enter his presence, or find themselves, as in a room which he has entered, in his presence. She is then, usually, when given permission, permitted to lift her head, but is to remain kneeling before him, beautifully, in a standard position, her knees closed if she is a house or tower slave, her knees open, if she was the sort of slave I was, whatever sort of slave that was supposed to be."
... Dancer of Gor, page 114 

-=Posture=-   The girls again stood, backs straight, heads high. They were very beautiful. In the eyes of Ilene, of Earth, there were tears. She knew that she would be punished. She had not been completely open to her master. It was in Port Kar that she would ascend the block.

“Posture!” cried the red-haired girl, with her switch. She struck two of the girls with stinging stripes.

Then the captive panther girls, fearing her, stood well. Their backs were straight, their heads were high. Their trim ankles were together. Their shoulders were back, their bellies flat and tight.

 

-=Prostrate=- lay belly down... arms before you and fingers splayed I knelt before the guest, putting the palms of my hands on the floor and my head to the tiles.
Kajira of Gor p 305 
-=Rape=- head to the ground, hands interlocked behind your neck hips lifted thighs parted “Turn about," he said. "Kneel down. Put your head to the ground, clasp your hands together, behind the back of your neck." "Yes, Master!" I wept. I hastened to obey. This is a common position for slave rape."
Dancers of Gor, page 458

"Then, crawling, swiftly, crying out, half dragged, I was pulled by the hair to the center of the room. He knelt me there. "Put your head down, to the floor," he said. "Clasp your hands, firmly, behind the back of your neck." “Yes, Master," I moaned. He was then behind me. He put his hands, under my arms, on my breasts, sweetly and firmly. Then he moved his hands back, caressing my flanks. My head was down. My fingers were together, behind the back of my neck. I was in his collar. It was steel, I could not remove it. I belonged to him. My body hurt, from his whip, that of my master. My head hurt, from my hair, where I had been conducted, unceremoniously, to this location. "Please, Master," I sobbed. "Not like this! Not you, please!" “The slave is pretty," he remarked.  "Oh!" I cried. "Oh!"  "You have a lovely ass," he said.  "Ohhh!" I said. "You may thank me," he said."
Kajira of Gor, page 434

-=Run=- legs almost strait, feet 'floating' with each quick step, hands out to the sides at a ankle palms forward, back straight and head to the left "She ran rapidly to a place before the stone platform, before the curule chair of Cernus, where she fell to her knees in the position of pleasure slave, head bowed. I was amused, for she had run as a slave girl is sometimes taught to run, with rapid short steps, her legs almost straight, her feet scarcely leaving the ground, back straight, head turned to the left, arms at her sides, palms out at a forty-five degree angle, more of a dancer's motion than a true run." 
Assassins of Gor, page 45
-=Slave Bow=- slave is bent backwards, one hand on her thigh other back of her collar displaying her for inspection I went to the slave. She lay on the lower slope of the hill of debris, her head down, her legs higher, up the hill, her right leg flexed. The end of the rope was a few feet above her, on the hill, where she had come free of it, and then rolled further downward. Her hands were thonged behind her. There were rope marks on her body, the signs of her spinning, jerking plunge to the hill, and then her tumbling downward, rather to her present location. She was trembling, uncontrollably. I supposed it had been frightening for her, she helpless in the hood. I took her by one arm and drew her to the level, at the foot of the hill, and knelt her there. I then bent her back, one hand on a thigh, the other on the back of her collar, in a slave bow, for the inspection of the young fellows.  She is pretty," said the first. "Yes," said the other. I released her. "You are in the presence of men," I told her. Swiftly she bent forward and put her head down to the ground.
Rengades of Gor 300
-=Slave lips=- head lifted and lips pursed for a kiss, unable to break position until the slave is actually released by a kiss "Similarly, I was not required to respond to certain sorts of commands, for example, to make 'slave lips,' pursing my lips for kissing, or to writhe slowly before my viewers." 
Kajira of Gor p 224

"A girl who is commanded to make slave lips, or who receives the command, "Slave lips," must form her mouth for kissing. She then, commonly, is not permitted to break this lip position until she kisses or is kissed. Needless to say, a girl cannot speak when her lips are in the unbroken, fully pursed slave-lips position. The command which commonly follows the "Slave lips" command is, "Please me."
Blood Brothers of Gor, page 111

-=Slavers Caress=-
[sometimes called
Slavers kiss]
to the floor on all fours, head lowered to the ground, bottom high in the air, thighs widely spread, slaves heat exposed Then, before I could realize what he intended, he had subjected Miss Cardwell to what, among slavers, is known as the Whip Caress. Ideally it is done, as Kamchak had, unexpectedly, taking the girl unawares. Elizabeth suddenly cried out throwing her head to one side. I observed to my amazement the sudden, involuntary, uncontrollable response to the touch. The Whip Caress is commonly used among Slavers to force a girl to betray herself.
Nomads of Gor p 168 

"She was beautiful, and had been free; she was not trained. She did nothing to move the buyers but stood, head down, numb on the block until she was completely revealed. Her movements were wooden. The crowd was not pleased ... Then taking the whip from the whip slave the auctioneer stepped to the disconsolate girl; suddenly, without warning, he administered to her the Slaver's caress, the whip caress, and her response was utterly, and uncontrollably, wild, helpless. She regarded him with horror. The crowd howled with delight."
 Assassin of Gor, pages 294  295 
-=Stake=-   “Stake position,” said Ephialtes to the two women. Immediately they both lay down, with a sound of chain. It is not unusual to forbid a rent slave, during her use times, when chained at a stake, to rise even to her knees.
Vagabonds of Gor pg 385
-=Standard Binding Position=- When ordered into standard binding position the girl lays on the ground, wrists crossed behind the back and ankles crossed. "Standard binding position," he said. I was prone. When a girl is prone, the standard binding position is to cross the wrists behind the back and to cross the ankles. I took this position instantaneously.
From Slave Girl of Gor. P 125 
-=Stand=- standing straight, back straight as possible, belly tucked and one hips cocked slightly, knees slightly bent , hands to shoulders  elbows back so breasts lift up and outward “Stand as a slave,” he said. I stood beautifully, back straight, head high, belly sucked in, hip turned. No woman can stand more beautifully than as a gorean slave girl. “Excellant,” said Ladletender, smacking his lips."
Slave Girl of Gor, page 249

'Stand,” I told her. “Back straight, belly in, breasts out. Lift your hands to your shoulders, flex your knees."
Players of Gor, page 25
-=Submit=-
[also called submission]
kneeling, hands lifted high, wrists crossed, head tipped down between her arms "Assume the posture of female submission," I told her. She did so, kneeling back on her heels, her arms extended, wrists crossed, her head between them, down. She was weeping.
Tribesmen of Gor, page 359

"Submit," I said. Swiftly she knelt back on her heels, her knees wide, and lifted and extended her arms, wrists crossed, as though for binding. Her head was down, between her arms. "I submit myself, fully, and as a slave," she said."
Explorers of Gor, page 460 

"Submit," I told her. She knelt before me, back on her heels, arms extended, head down, between her arms, wrists crossed, as though for binding.  "I submit to you, Master," she said."
Explorers of Gor, page 74

"She came and stood before me, and then dropped to her knees, resting back on her heels. She lowered her head and extended her arms, wrists crossed, the submission of the Gorean female."
Raiders of Gor, page 92
-=Sula=- lay on back on the floor, spread feet shoulder-width apart, and rest
arms with palms up at sides
"Sula, Kajira!" said the man. She slid her legs from under her and lay on her back, her hands at her sides, palms up, legs open.
p 77 Explorers of Gor 
-=Thigh=- This quote gives a better description of what Thigh position is

“Lie on your right side before me,” I said, “extending your left leg.”
She did so. In this way, the bit of silk she wore fell to the right, displaying the line of her hip, thigh and calf. I saw the brand, tiny and tasteful, yet unmistakable, fixed in her thigh, high, under the hip. It was the common kajira brand, the staff and fronds, beauty subject to discipline, worn by most female slaves on Gor. She had the toes of the left leg pointed, lusciously curving the calf. I saw that she had had some training.
Vagabonds of Gor Pg 1
“Thigh,” I said.
The dark-haired woman turned immediately to her side, exposing her left thigh to me. There was a chain on her neck, run to a stake near the wagon. A small copper bowl was beside her.
“Thigh,” I said, to the other woman, also dark-haired, but smaller. With an exciting, sensuous movement she exhibited her thigh. She was confined as was the other. Beside her, too, on the ground, was a small copper bowl.
Vagabonds of Gor pg. 383
-=Tower=- knees are closed and thighs are pressed closely together wrists may or not be crossed as your owner decides The position of the Tower Slave, in which Vika knelt, differs from that of a free woman only in the position of the wrists which are held before her and, when not occupied, crossed as though for binding...The position of the Pleasure Slave, incidentally, differs from the position of both the free woman and the Tower Slave. The hands of a Pleasure Slave normally rest on her thighs but, in some cities, for example, Thentis, I believe, they are crossed behind her. More significantly, for the free woman's hands may also rest on her thighs, there is a difference in the placement of the knees. In all these kneeling positions, incidentally, even that of the Pleasure Slave, the Gorean woman carries herself well; her back is straight and her chin is high. She tends to be vital and beautiful to look upon."
 Priest Kings of Gor  pg 46-47

"The position of the tower slave, in most cities, is very similar to that of the pleasure slave. The major difference is that the tower slave kneels with her knees in a closed position, whereas the pleasure slave, in a symbolic recognition of the fuller nature of her bondage, and its most significant aspects, kneels with them in open position."
 Blood Brothers of Gor, page 107
-=Up=- slave rises and moves into her prior position "When the command 'Down!' is heard," said a man to us, "you will fling yourselves to your belly instantly. When the command 'Up!' is heard, you will stand, instantly, arranging yourselves as you are now. "Yes, Master," we said. There is a common command, familiar to all female slaves, "Belly," which brings us instantly to our bellies before he who commands us. This particular command expression, however, was not used in this context. I speculate that this was because the context of the two commands, and certainly their connotations, was so different. It is one thing, for example, to aesthetically and beautifully signify submission by bellying, perhaps on the furs at the foot of the couch, we being permitted upon them, and quite another to fling oneself down so that quarrels may be suddenly fired from behind one. Too, normally in a "belly command" one orients oneself toward he who commands, not away from him.
Witness of Gor, page 604.
-=Walk=- walk, move with grace, feet hardly leaving the floor, in controlled small steps consciously making her body appear seductive "I then walked as a slave, proudly, my shoulders back, gracefully and beautifully as a woman owned by men."
Dancer of Gor, page 156
-=Yield=- simply put... orgasm "You may now yield, Lady Sheila," he said, "as you have begged, as a slave."
"Thank you, Master!" I cried, and threw my head back elation and gratitude, and freed myself of feeling, and, as He mastered me, cried out my slave's submission to him.
Kajira of Gor

'Then, after a time, at last, he permitted her her slave's yielding, and in it she cried out her slavery, and her submission to men, and, specifically, to he who was her master of the evening.'
Kajira of Gor

These following positions are not actually found in the books...
 but are commonly commanded in online role-play

-=She-sleen=- She sleen is actually a variant of 'modality of she-quadrupled'.  in the books girls are called she sleen and referred as this being good for 'a little she-sleen' but is not actually listed as a position

two reference quotes are provided, one in reference to 'little she sleen' one a great description of what online she-sleen is expected to be like

In this way was she well displayed, and in the attitude of the she-quadruped.She was then again before us, on all fours, head down. "On all fours," remarked a fellow. "In such a posture she does not seem as insolent," said another. "She is not," said another. "No," said another. "A fitting posture for the little she-sleen," said a man.
Magicians of Gor pg 230

He knelt me there. "Put your head down, to the floor," he said. "Clasp your hands, firmly, behind the back of your neck." "Yes, Master," I moaned. He was then behind me. He put his hands, under my arms, on my breasts, sweetly and firmly. Then he moved his bands back, caressing my flanks. My head was down. My fingers were together, behind the back of my neck. I was in his collar. It was steel, I could not remove it. I belonged to him. My body hurt, from his whip, that of my master. My head hurt, from my hair, where I had been conducted, unceremoniously, to this location. "Please, Master," I sobbed. "Not like this! Not you, please!" "The slave is pretty," he remarked. "Oh !" I cried. "Oh!" "You have a lovely ass," he said. "Ohhh!" I said. "You may thank me," he said. ...p 434 Kajira of Gor 

-=Sula-Ki=- This is a variant of Sula, and again not found in the books, hips lift  up as feet press to the ground, body begging for rape  
-=Table=- Often called for in role-play, again not found in the books at all, the closest thing  one found is listed here.   "To all fours," said her keeper. Immediately she went to all fours. "Describe a circle, of some five paces in diameter, on all fours, as you are now," said her keeper, "and return to this place." I watched her.  In this way was she well displayed, and in the attitude of the she-quadruped.  She was then again before us, on all fours, head down. "On all fours," remarked a fellow. "In such a posture she does not seem as insolent," said another. "She is not," said another.  "No," said another. "A fitting posture for the little she-sleen," said a man.
Magicians page 230