Open and Honest Communication
Communication matters a lot , a healthy sexual relationship when taken a close look at has good communication as its foundation. Needs and desires needs to be communicated , don't just keep mute and think that your partner will figure out what you like , open up to them about your likes and dislikes , and also things that you will want each other to try out.
Active listening is also part of effective communication , this allows us to have a better understanding about what our partner really wants. Listen to them without judgement.
The boundaries set by each of you should be communicated clearly to each other , this boundaries should also be respected.