Charak Samhita

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सञ्जातहर्षौ मैथुने चानुकूलाविष्टगन्धं स्वास्तीर्णं सुखं शयनमुपकल्प्य मनोज्ञं हितमशनमशित्वा नात्यशितौ दक्षिणपादेनपुमानारोहेत् वामपादेन स्त्री ||७||

sanskrit

[Preparations before coitus] The couple that is sufficiently aroused and fully engrossed in the sexual act, after having their favorite food (wholesome, not overeaten), should lie on bed which is well adorned with pleasant perfumes and bedecked with comfortable mattresses of one’s choice for the sexual act, man placing his right foot first and woman her left.

english translation

saJjAtaharSau maithune cAnukUlAviSTagandhaM svAstIrNaM sukhaM zayanamupakalpya manojJaM hitamazanamazitvA nAtyazitau dakSiNapAdenapumAnArohet vAmapAdena strI ||7||

hk transliteration