"Sex" may include many things, from intimate touching to vaginal or anal intercourse.
These terms are often used:
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Sexual contact may involve genital touching, skin-to-skin contact, mutual masturbation, mouth-to-genital contact (oral sex), or sexual intercourse.
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Sexual intercourse can refer to vaginal sex (penetration of the vagina), oral sex (mouth to penis, vagina, or anus), or anal sex (penetration of the anus).