While I avoid religion, I do have quite a sense of spirituality and I believe that sex is a positive way to connect (on SO many levels). It's an excellent way of communicating, healing yourself, healing someone else, reliving stress and tension... Hell, it's even a fast way to get a great ass.
I don't view sex as anything to be ashamed of, though it took me a while to come to this understanding within myself. I view sex as healthy, beautiful, and necessary for personal well-being.