Midsomer Masochist

Midsomer Murders is an entertaining drama about a fictitious English county with the highest murder rate in the country. Over the past ten years, two to three people per week have died under suspicious circumstances in one of the tiny Midsomer villages.

Victims and perpetrators alike tend to be wealthy, eccentric, or obsessed with unusual hobbies and pastimes. In each episode, quaint and old-fashioned but otherwise reasonably harmless individuals are gradually exposed as sinister, greedy, jealous or sexually deviant as the plot unfolds and the murders continue.
The distinguished Detective Chief Inspector Barnaby and his equally handsome young assistant, Detective Sargeant Troy, manage to unravel the strings of deception one by one, and the mysteries are revealed when the criminal is confronted and confesses.

An episode that aired recently (probably a few years old for British viewers) called Country Matters was unexpectedly but delightfully kinky.

In one scene, a lovely young woman in full riding kit, carrying a riding crop, walks into the stable and confronts a man sitting down beside a saddle and bridle. He explains that he was only resting for a moment, but she is obviously displeased that he has not done his assigned tasks. She orders him to stand up and bend over a table, then goes to a rack on the wall where she hangs the crop and chooses a dressage whip instead. There is a closeup of the man's bottom, with trousers stretched tight across it. Then we see his face, and watch as the woman swings the whip and it connects. The expression on his face is a mixture of shock, excitement and pleasure; his eyes widen and his mouth forms an O.

In a later scene, the same man is hard at work cleaning tack when the two detectives arrive to continue their investigation. He apologizes for not having finished, then stands up, goes to the table, drops his trousers and bends over, saying "Oh well, variety is the spice of life." The detectives exchange startled looks.

There's also a kinky reference in a short conversation between Barnaby and his wife as she considers helping out at a cooking school. "[D]ishing out a bit of discipline, that I could handle."