con‧sen‧su‧al /kənˈsenʃuəl/ adjective formal
[Word Family: verb: consent; noun: consent; adjective: consensual]
[Date: 1700-1800; Language: Latin; Origin: consensus; ⇒ consensus]

1. involving the agreement of all or most people in a group:
a consensual style of management

2. consensual sexual activity is wanted and agreed to by the people involved

[TahlilGaran] Dictionary of Contemporary English ▲