The way I understand consent in the context of sexual actvities is that it is the voluntary agreement between two partners to engage in specific agreed upon acts. In practice, the way I do it is literally to ask permission before every act. (This is how it is taught in schools in 2026.) For example: "Would you like to...?" ",Shall we...?" "May I...?" If the answer is "yes", free of coercion and with a partner who is not intoxicated, then consent has been established.
For some who may be of a certain age the above may sound silly, to which I will reply: keep up with the times...