The first couple of times Bulma orders Goku around she does not even realize it. As he was messing around in the bath she was giving him on their first night together, she tells him to stay still so she can clean him faster. Without a change of expression or even dropping their conversation Goku stopped moving allowing her to easily wash him down.
Neither of them realizes Goku responded to her orders the times when she calls him to rescue her from monsters either. This is down to Goku just liking to fight and train to get stronger.
The first time Bulma becomes aware of Goku obeying her orders was after gaining their third Dragon Ball from the strange man on the beach. Having gone back into the capsule house to put on some clothing Bulma found that she was not wearing any underwear. This fact was all the more panic-inducing due to the fact that to get the Dragon Ball she had flashed the old man on the beach what she thought was her underwear but had been her bare crotch. No wonder he had reacted the way he had, she just thought the man had not seen a woman in ages and was overcome seeing such a hot young thing in panties leading to the nose bleed. Now she knew he had reacted as he had at seeing her pussy. She had even teased the man as she re-entered the capsule house by flashing her ass at him.
As she did not think that she had removed her panties in her sleep that just left Goku, who was happily riding that magic cloud of his. As soon as the turtle and old man were gone Bulma ordered Goku to get off the cloud. While he was fifty feet off the ground Goku left the cloud making Bulma's heart plummet as fast as his body but he landed on his feet looking no worse for wear. "Goku do you happen to know," Bulma asked through gritted teeth, "what happened to the panties I was wearing when I went to bed?"
"What's a panties?" Goku asked.
"My underwear you neanderthal," Bulma said balling up her hands into fists.
"Oh, your hidden clothes, I removed them," Goku said smiling up at her.
While Goku was a little kid, granted a kid who was strong enough to face down people who threatened her since they meet and even survived being hit by her car and being shot by her gun, Bulma was so mad at him for taking off her panties. Not to mention not telling her that he had removed them leading to her flashing the old man for a Dragon Ball. Lashing out with her fist she socked Goku in the stomach, and to her astonishment the boy who had taken a blow from the flying lizard monster without issue crumpled around her arm with a grunt of pain.
"Since you did something bad I think I am going to have to punish you for it," Bulma said thinking that for whatever reason Goku was just playing around as he moaned from her blow to his stomach. Turning back to the capsule house she started to head inside, only to realize Goku was not following her but had stayed in place holding his belly. Still thinking he was playing some childish game Bulma did what she had seen some parents do to naughty kids on tv, grated they were scenes from sitcoms but that is all she knew, as she went over to Goku and lifted him off the ground to carry him inside.
She was halfway to the door when she realized that she should have been struggling a little to carry Goku who was around half her size but it felt like she was holding a large pillow. Her scientific mind could not help itself as she began to see if she could hold Goku one-handed. She could which led her to try doing it with less and less amount of body contact. When she stopped her experiment, Bulma carried Goku into the house holding him aloft with a single finger wrapped into the combined waistband of his pants and underwear.
Still feeling rather upset with him as she walked into the capsule house Bulma uses her single finger to bounce Goku's form as if it was a yo-yo causing him to squeak a little as she put pressure on his balls. While her experiment was fun and all she now had to decide how to properly punish Goku for taking off her panties and not telling her about it. After some thought she decides to...
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