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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.

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.

The resulting cooperation encourages collective tasks that promote the survival of each member of the group.

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.

Because of this, some couples may engage in the woman on top position or the coital alignment technique, a technique combining the "riding high" variation of the missionary position with pressure-counterpressure movements performed by each partner in rhythm with sexual penetration, to maximize clitoral stimulation.

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