Is it possible to have sex if the man's penis isn't erect?

mistixs
In an episode of Parks and Recreation (I'll post the clip in an update), there was a sex education class for elderly people. They were being taught how to use condoms to protect from STDs, using a banana. One old man said, "What if the banana is soft and mushy and dangles sharply to the left?"
My question is: Can men even have sex if they're soft? I never thought that was possible.
Is it possible to have sex if the mans penis isnt erect?
I have no idea
Vote A
It's possible to engage in intercourse when soft.
Vote B
Intercourse isn't possible, but it's possible for the man to receive oral (fellatio).
Vote C
Neither intercourse nor fellatio are possible if a man is soft.
Vote D
Select age and gender to cast your vote:
GirlGuy
Updates:
Is it possible to have sex if the man's penis isn't erect?
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