Dancing. Easily the most sensual sport on this list, you don't get more couple-friendly than dancing. But rather than just going to a club (though that's fine, too), try signing up for partner dance classes. It's a great way to cultivate a new talent while getting to know each other's bodies better. Get your significant other's input when choosing a dance style to pursue and don't be afraid to experiment in something outside your comfort zone. It's best to pick a style neither of you are familiar with so both of you are on the same footing Read: Dancing Can Improve Your Relationship
Look, Chris Evans has a great body. Most importantly, though, is that he's not a jerk about it. He doesn't walk around shirtless, unless it's in a completely appropriate situation. You don't have to worry about him flashing his abs to your mom, but if that shirt does come off for whatever reason, she'll still be impressed.