Please be kind, loving & consensual.

con·sent | kənˈsent | 

Dictionary definitions:

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noun 

permission for something to happen or agreement to do something: no fantasy about Wyoh may be shared with Wyoh without her consent. 

verb [no object] 

give permission for something to happen: she consented to join the orgy as long as condoms and dental dams were a given. 

• agree to do something: he had consented to listen to her sex story. 

ORIGIN 

Middle English: from Old French consente (noun), consentir (verb), from Latin consentire, from con- ‘together’ + sentire ‘feel’.

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Dossie Easton & Janet W. Hardy's definition (authors of The Ethical Slut):

an active collaboration for the benefit, well-being and pleasure of all persons concerned.