depending on the state if both kids are under the legal age it is considered statutory rape.
For example, in Massachusetts 16 is the legal age of consent, so if two fifteen years have intercourse, even if it was consented, it is considered statutory rape.
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It will depend on the specific laws of the jurisdiction in question. It may be allowable if they are within a certain age of each other. Some have very strict laws and consider it a sexual crime if either or both are under the age of consent. You will have to look at the laws where you are at.