Well... first you have to find a Sim (male or i think female works... Ive never tried it though)... and you need to have a "romantic interest", Boyfriend or Girlfriend, or even married. You need to keep building a relationship until an option comes up saying woohoo... And if your Sim or the other Sim is in a bad mood... they will reject ...hope this helps!
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It's not possible to woohoo on the Sims 3 for the DS.
Yes you can woohoo on sims for ds and dsi.
Get both sims to relax on a bed and select 'woohoo'.
Get the sims to WOoHoo
Woohoo means sexual intercourse.