Does Kirito sleep with Asuna?

Does Kirito sleep with Asuna? They do not mention that sort of things even on the novel but after asuna switched the lights off and took off her clothes (theoretically), they sleep together. But as they progress their relationship after getting married, they do it.

They do not mention that sort of things even on the novel but after asuna switched the lights off and took off her clothes (theoretically), they sleep together. But as they progress their relationship after getting married, they do it.