If you wish to interpret the bible literally, then we are all made by God in His image. If God made us sexual beings it must be because he WANTED us to be sexual beings. Therefore, anything you do of a sexual nature, provided it's with the consent of all parties concerned, is OK with God. It's the preachers, priests, imams, rabbis and various other holier-than-thou's who would condemn you for it. God won't. He told me so.

Have I ever lied to you?