In India, making physical relations is considered a secret and it is considered bad by many people, but in ancient times, people were open about the relationship.
As evidence, we can see many such examples in the architecture of ancient India, by seeing which we get an open view of the connection between ancient Indian civilizations, naked murtis of young women are seen in the Konark Sun Temple in Odisha. And similar sculptures have been carved in the caves of Ajanta Ellora centuries ago where people were to come.
Similarly, the statues in the temple of Khajuraho in Madhya Pradesh depict every form of relationship that was built almost a thousand years ago, not only that in ancient India, it was also not considered a crime to have a relationship with someone else after marriage. It was also accepted that Radha Krishna's love is considered as an example of this and in that time, love was never associated with shame.
Rajasthan Tourism App - Welcomes to the land of Sun, Sand and adventures