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Incest describes sexual relationships between blood relatives, and is generally considered taboo in most cultures, although different cultures have different traditions as to how closely two people can be related in order for the relationship to be considered incestuous.
Incest often appears in lolikon and hentai. In fanfiction, this can be considered due to the fact that siblings and parents are often characters in anime and manga, and fanfiction prefers pairing established characters.