First, do no harm (to others/self).
Also first, do what helps; please others as you would have them please you.
In sum: Treat other/them as self/us.
aka self=other
Every self/other is an other/self to another self.
The first act of love is asking, “Do you (dis)like this?” The second act is respecting the answer. So prepare yourself for what it looks like to respect each kind of answer. This is the essence of consent.
This is the narrow way of a burden (higher harm) that sets self and others free (higher pleasure).