con·sen·su·al 
/kənˈsɛnʃəwəl/ adjective
/kənˈsɛnʃəwəl/ adjective : agreed to by the people involved : done with the consent of the people involved
▪ consensual sex ▪ a consensual decision/act ▪ She claims their relationship was consensual.
▪ consensual sex ▪ a consensual decision/act ▪ She claims their relationship was consensual.
— con·sen·su·al·ly adverb
▪ The decision was made consensually.
▪ The decision was made consensually.
