consensual

The accused denied the charges - he said they had a consensual relationship and the case was brought on because of a dispute over money.

A little while later, Friend B says she saw Agnes leave the bar with one of the white men and assumed that they had come to a consensual arrangement.

All too often, men like this get away with these attitudes because they convince enough people that, while it may be gross, it’s ultimately just decadent, consensual behavior that harms no one else.

Depardieu, 76, has denied the charges, insisting his relationship with Arnould was consensual.

She also discussed rumours that he had "consensual affairs".