Manusmriti

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स्त्रियं स्पृशेददेशे यः स्पृष्टो वा मर्षयेत् तया । परस्परस्यानुमते सर्वं सङ्ग्रहणं स्मृतम् ॥ ३५८ ॥

sanskrit

If one touches a woman in a place (which ought) not (to be touched) or allows (oneself to be touched in such a spot), all (such acts done) with mutual consent are declared (to be) adulterous (samgrahana).

english translation

striyaM spRzedadeze yaH spRSTo vA marSayet tayA | parasparasyAnumate sarvaM saGgrahaNaM smRtam || 358 ||

hk transliteration by Sanscript