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No it is not a crime, if your in the United States it is completely legal. In all states, by age 21 a person has reached the age of consent, in most states the age of consent is 18. That means he is an adult and if he agrees to engage in any sexual activity you, it is legal. Once a person has reached the age of consent, the age of the older partner is not an issue.

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Q: If a 40 yo man engage in sexual stimulation with a 21 yo men it is a crime?
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