Although the history of anthropology shows various shifts in the way sexuality has been theorised, studies of the relation between sexuality and bodily sensations have remained limited. In this article I explore the concept of body‐sensorial knowledge to understand the relation between the social significance of sexuality and erotic sensations. I argue that the sensual qualities of sexuality are mediators and shapers of social knowledge that help to understand how causal relations, such as the reconfiguration of culture, gender and sexuality in postcolonial Kenyan society, are registered in people's self‐perceptions.