A sexual stimulation system, preferably including one or more excitation devices and one or more accessories. An excitation device, preferably including one or more housings, and optionally including one or more stimulation units, power modules, sensors, user input elements, communication modules, processors and/or control modules. An accessory, preferably including one or more mating elements, and optionally including one or more user interface elements. A method of use, preferably including configuring the system in a mated configuration, configuring the system in an unmated configuration, and/or providing stimulation using the system.