consensual

合意の上でのセックス

Refers to any sexual activity that is willingly and freely agreed to by all participants.

すべての参加者が自発的かつ自由に同意した性的活動を指します。

合意の上での性交

A formal or legal term for sexual intercourse that is agreed to by all parties.

すべての当事者が同意する性交。

合意の上での近親相姦

A specific legal or psychological term for sexual activity between family members that is agreed to by all parties.

すべての当事者が同意した近親相姦