i have not, i only have Heal, enrage, seal away, fire ball, fire enchant and distraction
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These skills are learned from dresses like most of them. Check out available dresses and look for Lust Bolt or Seduce. Then defeat enemies using only these two skills or just one of them. If you didn't use anything else, even auto attacks, then winning will trigger a domination scene.
Not all enemies have them though. If you want to be 100% sure about domi scenes - check the gallery. All scenes have names even locked ones, so you see if a particular enemy has a domi scene.