When it comes to sex, everyone sometimes feels awkward: we don't want to seem inexperienced or insecure; we fear rejection, misunderstanding, or that the experience will simply be “not great.” We often lack the courage even to discuss the logistics with our partners. But why are we so embarrassed to talk about sex? Where do sexual fantasies come from, how do they help us, and is it okay to categorize them as “normal” versus “weird”? What do all these unfamiliar words—“rubbing,” “toeing,” “compersion”—mean, and what practices stand behind them? How can you deliver pleasure to yourself and to another person? And how do you figure out what you truly want?