Yoreh Deah Siman 267 Seif 15

טו אֲנָשִׁים שֶׁאֵינָם נוֹהֲגִים כַּשּׁוּרָה, מֻתָּר לִרְדוֹתָן בְּחָזְקָה וּלְהִשְׁתַּעְבֵּד בָּהֶם.

Those who do not act in as they should— it is permissible to subjugate them by force and be served by them.