A sexual aid device, for allowing a user being a first party of sexual relationship with a second party, to simulate the physiologic reaction of the penis of a human male. The proposed sexual aid device includes a hollow penis body made of flexible or semi-rigid material and containing a plurality of telescopic sections for causing the penis body to be in its erected state when the telescopic sections are maximally propagated and for allowing the penis body to be in its descended default state, when the telescopic sections are maximally contracted; a simulated scrotum made of flexible or semi-rigid material, having a compartment for containing a mechanism for powering the propagation and contraction of the telescopic sections; a mechanism for providing a driving force required for powering the propagation and contraction of the telescopic sections; sensors located on the penis body, for detecting physical contact of the penis body with the body of the second party; a controller for controlling the driving force to cause the telescopic sections to maximally propagate, according to input signals received from the sensors and to time and to return to be maximally contracted, after a predetermined time; a power source for powering the controller and for generating the driving force; and a coupling mechanism for attaching the sexual aid device to the body of the first party.