What do you usually associate with the word “bondage”? For me it’s something strict, tight, inescapable, with lots of corresponding toys and usually for hours of play. With all “associated” problems: you need time, place, energy, and willing partner with similar fetishes and concentration.
But here’s a suggestion. Why don’t you and/or your partner wear just one or two bondage attributes? There’s no reason to fully and completely restrain a person, because he or she will not be able to do anything useful or go outside.
For example: no need to speak – use a gag, a passenger in a car does not have to walk or steer – apply leg- and hand-cuffs, have to be in public – wear a karada or crotch-rope under the clothes, etc.
See 12 photos below.