The Collaborative International Dictionary
Consensual \Con*sen"su*al\, a. [See Consent, v. i., and cf. Sensual.]
(Law) Existing, or made, by the mutual consent of two or more parties.
-
(Physiol.) Excited or caused by sensation, sympathy, or reflex action, and not by conscious volition; as, consensual motions.
Consensual contract (Law), a contract formed merely by consent, as a marriage contract.
Usage examples of "consensual contract".
Nowadays, it is sometimes thought more philosophical to say that a covenant is a formal contract, which survives alongside of the ordinary consensual contract, just as happened in the Roman law.
I submit there is a distinct moral difference between coercing an innocent to participate in forceful action, and requiring that someone fulfill a previously agreed-upon, consensual contract.