The Kama Sutra, Koka Shastra, and the related literature contain the earliest completely unambiguous reference to sado-eroticism, including bondage. They date to about the 5th-8th century AD. (Petronius’ Satyricon, from the 1st century, also deals with S&M and bondage, but it’s just slightly vague about the consent issue.)
These writings are not only the first description of consensual erotic bondage, but also of F/m D/s. And at the same time, no less! Yes, folks, the first known instance of explicitly consensual erotic bondage is in femdom. And in India. A fact which I hope that the BDSM-is-Eurocentric-Patriarchy crowd will take a moment to consider.
Unfortunately, if any graphic or sculptural evidence of those practices survived the long years of Victorian imperial censorship, I can’t find it.
The image above depicts “the woman acting the part of the man,” which the KS views as a (temporary) femdom game. That’s as close as I can get to 5th-century Asian femdom…