An apparatus and method for sexual stimulation that includes a handheld driving member and an insertive member that is tipped with an insertive sexual device that moves in response to a users movement of the driving member. The two members are coupled by a rotating or tilting coupling mechanism with which a user may control the motion of the insertive device with great precision. The coupling device couples the driving member to the insertive member in such a way as to translate a movement of the driving member to an analogous movement of the insertive member that the two movements are equivalent or proportional in amplitude, acceleration, and velocity, but mechanically out of phase. Variations allow the apparatus to be used simultaneously by two users, or provide features by which a user may customize the scale or direction of the insertive devices motion.
