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In Texas it is considered a sexual offense to engage in “sexual contact” with anyone younger than 17 to whom you are not married. Sexual contact is defined as touching the anus, breast or genitals, including touching through clothing, with the intent to arouse or gratify sexual desire. (Penal Code Ch. 21, Section 21.11)
So, basically, a couple of 16 year olds messing around in the back seat are guilty of sexual offenses.
It is an affirmative defense if the perpetrator is not more than three years older than the victim and of the opposite sex and not a licensed sex offender.
But I've always wondered--if both are 16, who is the perpetrator and who is the victim??