It happened enough that the Romans had a verb for it, subiugare, from sub iugum ("under the yoke") from which we get "subjugate." Subiugare eventually became approximately equivalent with the various verbs of conquering, although it was never a particularly common way verb to describe conquest. The most famous example was of course the passage under the yoke of the Romans by the Sabines after the Caudine Forks, but I can think of at least two other occasions off the top of my head. In 107 the Helvetii forced the remnants of Cassius Longinus' army to pass under the yoke before being allowed to return home and in 110 Jugurtha forced Aulus Albinus and his army to pass under the yoke.

The origin of the practice is unclear. In the historical period it was obviously and consciously used as a means of humiliating a defeated foe, reducing them to the status of pack animals, but it doesn't seem to have originated as such. In Livy the surviving Horatius brother relieved himself of the guilt of murdering his sister (betrothed to one of the now dead Curiatii) for mourning for her betrothed more than her brothers by passing under a yoke. So it may have initially been some sort of purification ritual against blood guilt or something like that. The spread of the practice isn't really clear--Jugurtha probably got it from the Romans in imitation of them, but the Helvetii and Samnites may have shared such a ritual, passed down from a very early date. Or maybe they too were imitating the Romans. It's hard to say