I am absolutely certain about the mating ritual scene. The hero laying down tied up on a table or alter and the on female character on top and enjoying herself while the Queen and I think guards look on.
That perfectly matches part of "Gwendoline." However, I do not believe that takes place in either "She" or "Phoenix the Warrior." There is a scene like that in "Cannibal Women in the Avocado Jungle of Death."