According to covid protocols, close contact with an infected person is considered to be safe about 2 metres apart, which will put you at risk of the virus. If you are taking part in sexual activities, even kissing or cuddling, or touching the mouth or nose of someone who may be infected, you will definitely be at risk.
As far as the actual sexual act is concerned, there is no evidence that the virus can be transmitted through vaginal fluids or semen.