'Sexual Relations' in the Bible

And the sons of Jacob came in from the field when they heard [it]. And the men were distressed and very angry because he had done a disgraceful thing in Israel by having sexual relations with the daughter of Jacob--{something that} should not be done.

And while Israel was living in that land Reuben went and had sexual relations with Bilhah, his father's concubine. And Israel heard [about it].