Sexual ecstasy is merely a reward for procreating, which is what makes you want to do it. This is necessary as if we did not, we would have died out a long time ago. It is also because of the release of dopamine at the moment of orgasm, making you literally high off of your brain chemicals for a short period of time.
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Sex can feel good due to the release of hormones like oxytocin and dopamine, which can create feelings of pleasure and emotional bonding. Additionally, physical touch and intimacy can stimulate nerve endings and sensory receptors in the body, leading to pleasurable sensations during sexual activity.
Because the two individuals are causing orgasms toward eachother, which causes them just to hump more and faster, which causes more orgasms, so it creates deep satisfaction.