Objective: People diagnosed with autism spectrum disorder (ASD) have diverse sexual needs and interests, like others without autism. However, people with autism report on sexual confusion, difficulties and ambivalence. Difficulties in interpersonal communication, restricted interests, social deprivation, anxiety and sensory sensitivity that characterize autism harm the ability to exercise sexual and social needs in a positive, safe, and healthy way. The presentation will include: Design and Method: Overview of the multi-directional connections between sexuality and anxiety in children, adolescents and adults with autism, based mainly on case studies and clinical experience as well as the existing literature. Results: Through case studies, we can see that many of the anxieties around sexuality begin at childhood and connect to the development of personal identity. Conclusions: There is great importance of socio-sexual education and designated therapy, in order to enable social and sexual well-being.