The original version was illustrated with a mixture of classical Indian and Japanese erotica and specially commissioned illustrations by Chris Foss (black-and-white line drawings) and Charles Raymond (colour paintings).
The book features sexual practices such as oral sex and various sex positions as well as bringing 'further out' practices such as sexual bondage and swinging to the attention of the general public. The original intention was to use the same approach as such cook books as The Joy of Cooking, hence section titles include 'starters' and 'main courses'. The Joy of Sex spent eleven weeks at the top of the New York Times bestseller list and more than 70 weeks in the top five (1972–1974).