Penetration is the medical term for the penis entering into the vagina. It's a good way term for talking about sex if one wants to seem mature. Even if you're a dirty little pervert, you'll sound like sex is more than just an emotionless action caused by hormones if you call it 'penetration' rather than 'fucking around,' 'doing it,' etc.
Dude 1: Did you fucked your girlfriend last night?
Dude 2: Penetration occured and I depostited my semen inside of her vagina.
Dude 1: What the fuck? You're a frat boy, you don't talk like that.
Dude 2: I know, but I sure sound mature, don't I?
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