From the book Magnificent Sex
Allow yourself to be felt and known deeply, and penetrated metaphorically, as individuals and erotic beings.
Empathy was not only a component of optimal sexual experiences, but it was the overarching and underlying factor that created magnificent sex. It helped facilitate virtually every other relationship quality.
Empathy was crucial for improving the quality of sexual experiences directly; it also helped foster trust, communication and safety that were, in their turn, helpful and bringing about magnificent sex.