You poor kids. Your parents screwed you up.
I've read advice that people need to continuously ask for consent DURING the act, just to be sure. This is stupid advice. Once you're both willingly naked in the same room, and no one laughed or ran away, you're good. If you're now thinking up exceptions to this, that's why you'll never get laid.
OTH, no one should have kids, so it's probably all for the best.