Rabbi Kahana wants to learn everything possible from his teacher, Rab. So one day, he hides under his teacher’s bed. He listens as the elder is in bed with his wife: talking, joking – being, shall we say, intimate. Kahana lets out an expression from under the bed, startling his master. When he is called on his highly inappropriate behavior, the student says: “It is a matter of Torah and I am required to learn it!”
So some negative lessons to learn here, about invasion of privacy! But also, that sexual behavior between spouses is a matter of Torah, and that the master practices foreplay. Jewish sexual ethics is not restrictive and appreciates mutual pleasure. Intimacy and communication are key. And it is private - you don’t need an audience.