"Sexual penetration" refers to a sexual act where one person's body part or an object is physically entered into another person's body for pleasure or arousal. Full definition
Sexual assault refers to crimes where a person is accused of compelling someone else to engage in sexual penetration without their consent. (rosenthalwadas.com)
Jobless Xavier Chua Cheng Hao, 25, pleaded guilty to two counts of sexual penetration of a minor. (gonintendo.com)
It found sufficient evidence that Luke had «engaged in sexual penetration without consent.» (businessinsider.com)