It's called "All Tied Up". She and her girlfriends kidnap the guy -- her boyfriend, whom she suspects of cheating on her (who the hell would cheat on Terri Hatcher?).
Eventually, he gets away and turns the table on Terri -- kidnaps her, ties her up and tries to win her back.
Toe-sucking, yes. Tickling, no.
To borrow her line from Seinfeld: Terri's tootsies "are real, and they're spectacular!"