A sexual aid device, system and method comprising: a chassis with a distal end； a proximal end with at least one penile port； at least one penile support between the distal end and proximal end； at least one penile channel between the distal end and proximal end； wherein the chassis is configured to have an opening along the top toward the proximal end. When used with a sleeve and chassis cover the system provides additional support so that the combined device substantially surrounds the donning penis and enables new methods of intimate sexual intercourse without an erection and without substantially obstructing blood flow to and from the penis. In an optional saddled embodiment the inner and outer scrotal support of the chassis and sheath help to hold the device in place while providing a comfortable scrotal opening an enabling gentle massage of the scrotum and perineum through use of a perineum bump.
