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Voyeurism

Voyeurism is a disorders of sexual arousal. It involves the act of observing unsuspecting individuals, usually strangers, who may be naked or in the process of disrobing. Even engaging in sexual activity. Masturbation usually occurs during, or shortly after, voyeuristic activities. A variation of voyeurism entails listening to erotic conversations; e.g. telephone sex. The main criteria for the diagnosis is:

Repeatedly, for at least 6 months, having intense sexual desires, fantasies or behaviors concerning the act of watching an unsuspecting person who is naked, disrobing or having sex.

This activity causes clinically important distress or impairs work, social or personal functioning.

Onset is typically before the age of fifteen, and the individual may become so invested in the voyeuristic activity as to have this as the sole sexual behavior. This often is a chronic condition.

In current Society a certain amount of voyeurism is considered normal, such as watching
x-rated movies, as well as graphic magazines. You may have even been sexually aroused when you noticed by accident someone who was undressing, naked, or having sex. However, the key factor here is that unless you seek out these experiences, you are not a true voyeur

A voyeur is a person who derives sexual gratification by watching the naked bodies and/or the sexual practices of others.  Usually, the voyeur watches from a secret vantage point. 
     Voyeurism is a sinful act because it violates the privacy of a person or persons and because it can also include observing sexual relations between two people.  A voyeur who watches a naked person or persons without their knowledge essentially "steals" from them that privacy and intimacy intended only for the self and or the person's spouse.  Even if the voyeur has the consent of the other(s) it is still sinful since true nakedness and sexual relations are only to be enjoyed between a husband and wife.