“To sleep together” in Japanese
Short answer
To sleep together in Japanese is “肌を重ねる” (hadawokasaneru). Full meaning: to sleep together (e.g. man and a woman), to lie with each other.
Other ways to say “To sleep together” in Japanese
枕を交わす
makurawokawasu to sleep together (for a man and a woman), to make love
肌を合わせる
hadawoawaseru to sleep together (for a man and a woman), to bring one's bodies together (e.g. for warmth)
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