consensual

自愿性行为

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

指所有参与者自愿并自由同意的任何性活动。

双方同意的性交

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

各方都同意的性交。

双方同意的乱伦

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

指所有相关方都同意的乱伦行为