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Joan Roughgarden, in her book Diversity, Gender, and Sexuality in Nature and People, postulates that this applies equally to humans as it does to other social species.
She explores the purpose of sexual activity and demonstrates that there are many functions facilitated by such activity including pair bonding, group bonding, dispute resolution and reproduction.
Some people engage in hate sex, which occurs between two people who strongly dislike or annoy each other.
Two examples that are criminal offences in most jurisdictions are sexual assault and sexual activity with a person below the local age of consent.
Sexual activity can be classified in a number of ways: acts which involve one person (also called autoeroticism) such as masturbation, or two or more people such as vaginal sex, anal sex, oral sex or mutual masturbation.
The object of desire can often be shoes, boots, lingerie, clothing, leather or rubber items.
Some non-conventional autoerotic practices can be dangerous.
Sexual arousal can also be experienced from foreplay and flirting, and from fetish or BDSM activities, or other erotic activities.