"The Price" from TNG. Troi beds a negotiator and they're rolling around in bed, and then Troi straddles him and starts rubbing some oil on his chest.
I always thought TNG was pretty tame but this scene would stand up against the best of them.
Easily.
Also one of my most embarrassing moments as a ten year old child. I'd been telling my mother what a great show TNG was and she agreed to sit with me one week to watch...

Picard finds Vash waiting for him in his quarters. She saunters across the room toward him. The sexual heat in their eyes is palpable. (The fact that Stewart and Hetrick were involved at the time of filming might be why.
) She tenderly strokes his face bringing him in for a soft kiss. She plucks the horga'hn from his grasp dropping it onto the chair and replacing it with herself. Their lips meet again in a deeply impassioned kiss.


