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The term consensual refers to sexual activity or behavior that the parties involved agree on. Consensual activity may include foreplay, intercourse, or any other behavior for which mutual consent is given.
Consent is also defined by law in most countries. For instance, in the United States, each state defines the age at which a person is capable of giving consent for a sexual relationship. However, even if someone meets the age at which they can legally consent, you should always make sure that you have the other person's consent.