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The factors for checking why she may be crawling are these:

Is she wearing cuffs/restrained (equipped via the inventory)?

Is she set to “permanently crawl” (via slave rules)?

Is she swollen/pregnant/cumfilled (checked on the bottom left panel of Statistics)?

And finally, is her energy bottomed out? (Main page or slave page, fixed via spell or sleeping)

Thanks for your help. :D

It did happen at the beginning, so my best guess would be the permanent crawl rule, but I have no idea where I'd find that? I've looking at all the menus for talking to them, but there is nothing like that in there.

It happened off the back before going out and doing any combat or before any sex interactions? The one other thing it could be is negative stats forcing her to crawl. Did she have negative strength or Endurance (from one of the negative traits) by any chance?

The rule is on the panel after applying your first "brand". It's a toggle.