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Various jurisdictions have placed restrictive laws against certain sexual acts, such as incest, sexual activity with minors, prostitution, rape, zoophilia, sodomy, premarital and extramarital sex.

For most non-human mammals, mating and copulation occur at the point of estrus (the most fertile period of time in the female's reproductive cycle), which increases the chances of successful impregnation.

Sexual intercourse may be defined by different words, including coitus, copulation, coition, or intercourse (which is typically shorthand for sexual intercourse).

Sexual intercourse or other sexual activity can encompass various sexually stimulating factors (physiological stimulation or psychological stimulation), including different sex positions or the use of sex toys.

In most mammals, the anatomy of the reproductive organs and some circuits of the nervous system are specifically organized for heterosexual copulation.

Copulation corresponds to a succession of innate sexual reflexes: erection, vaginal lubrication, lordosis behavior, immobilization, intromission, pelvic thrust and ejaculation.

These copulatory reflexes are controlled by hormones and facilitated by sexual pheromones.

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Other forms of penetrative sexual intercourse include anal sex (penetration of the anus by the penis), oral sex (penetration of the mouth by the penis or oral penetration of the female genitalia), fingering (sexual penetration by the fingers), and penetration by use of a dildo (especially a strap-on dildo).

It is sometimes performed to the exclusion of all other forms of sexual activity, and may include the ingestion or absorption of semen or vaginal fluids.

Fingering (or digital penetration or digital intercourse) involves the manual manipulation of the clitoris, rest of the vulva, vagina or anus for the purpose of sexual arousal and sexual stimulation; it may constitute the entire sexual encounter or it may be part of mutual masturbation, foreplay or other sexual activities.

Unlike mammalian copulation, where copulation is a reflex controlled by hormones and influenced by pheromones, human sexual intercourse is mostly a voluntary and learned activity that is performed in order to obtain sexual rewards (i.e., pleasure or procreation).

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