My sister and I had safe, consensual sex two days ago. She told me to take it all off, and she did the same right afterwards. I began to sexually advance towards her, and she had me stick my penis into her vagina. It felt so good, we got on the bed when our parents weren't home. We went all the way, both achieving orgasm, and we were surprisingly pleased afterwards. Is it wrong to perform this kind of incest? Considering it was consensual, safe, and no "weird babies" will be borne out it?