LEV1095 "Among your brethren, the Children of Yisrael, you must not subject one another to oppressive work" [this verse]. One may not subjugate other Jews. If they fear him or they are too embarrassed to ignore his wishes, he should not require anything of them -- neither minor nor major--not even to warm a flask of water on to go on an errand for him, even if only to buy a loaf of bread in the town square, unless it is something that they themselves desire to do and it is for their benefit. Nonetheless, one can demand of another who does not act properly whatever he wants (Bava Metzia 73b).